KR101646014B1 - Digital hydraulic system - Google Patents

Abstract

At least one actuator (23) or actuator unit capable of generating a sum (Fcyl) of forces effective on the load; At least one actuating chamber (19, 20, 21, 22) operated by displacement principle and located in said actuator or actuator unit; At least one charging circuit (HPi, HPia) of high pressure which is a source of oil pressure; At least one charging circuit (LPi, LPia) of low pressure being a source of oil pressure; Wherein at least one of the high-pressure charging circuits HPi and HPia and at least one of the low-pressure charging circuits LPi and LPia are connected to at least one of the operation chambers 19, 20, 21, And each of the operation chambers 10, 20, 21 and 22 is provided with elements of force (FA, FB, LPia, LPia) corresponding to the pressures of the charging circuits , FC, FD), and each element of force may generate at least one of the forces sums either alone or in combination with elements of force produced by the other actuation chambers of the actuator or actuator unit , And a control circuit (40) are disclosed. The actuator unit is, for example, a pivoting device or a rotating device. The system uses a controller to control the control circuit.

Description

[0001] Digital hydraulic system [0002]

The present invention relates to a pressurized media system. The present invention relates to a pivoting device for controlling the pivotal movement of a load. The present invention relates to a rotating device for controlling rotation of a load. The present invention relates to a method in a pressurized media system. The present invention relates to a controller for controlling a pressurized medium system.

In a pressurized medium system, the load is controlled using an actuator having an action chamber in which the pressure of the pressurizing medium is effective and which has a valid region for generating a force effective to the load through the actuator. The magnitude of the force is determined by the pressure effective area and the pressure controlled to produce the variable force in the conventional pressurized media system. Typical examples are load transfer and up-down transfer, where the load varies from one physical system to another system to be moved, for example, to a portion of the system, to the system, and to the system. Generally, the pressure control is based on adjustment with loss, and in the conventional resistance control method, the control of the force of the actuator is achieved by controlling the pressure of the operation chamber unrestrainedly. In this way, the pressure is controlled by throttling the flow of the pressurized medium entering and exiting the chamber. The control is performed using, for example, a proportional valve.

Generally, conventional systems have a pressure surface that is pressure regulated and generates a volumetric flow rate of the pressurized medium, a recirculating surface having a so-called tank pressure that receives the volumetric flow rate and is low enough to provide an overall pressure level to minimize losses I have.

As a known pressurizing medium, there are, for example, hydraulic oil, compressed air, water or an aqueous hydraulic fluid. The type of pressurized media is not limited and may vary depending on the needs and requirements of the application.

The problems of the conventional system are the sensitivity to failure and the energy loss, in particular the problems of loss of hydraulic pressure and failure of control valve.

It is an object of the present invention to provide a new solution capable of performing pressurized media systems and capable of significant energy savings over the majority of systems currently in use.

The present invention relates to a digital hydraulic system solution based on a method for controlling a device applicable to a digital hydraulic system without throttling, including for example a pressure converter unit, a pump pressure converter unit, A control circuit, and a controller.

A pressurized medium system according to the present invention is shown in claim 1. A turning device according to the present invention is shown in claim 32. The rotating device according to the present invention is shown in quadrature 36. [ The method according to the invention is presented in claim 41. The controller according to the present invention is shown in claim 43.

The system solution may be used to control forces, accelerations, velocities or positions produced by actuators driven by a pressurized medium, or to control acceleration, moments, rotational accelerations, angular velocities, positions and / or forces generated by a device with several actuators And is configured to control the rotation of the force. In addition, or alternatively, the system solution is provided for the control of one or more energy charging units. In addition, or alternatively, the system solution is provided for control of one or more pressure converter units and respective conversion ratios. In addition, or alternatively, the system solution is provided for control of one or more pressure converter units and respective conversion ratios.

A novel digital hydraulic system solution based on a method of controlling without throttling and an apparatus therefor are provided. An important feature of digital hydraulic systems is the return of motion or position energy to the charging circuit during the actuating movement of the actuator.

The pressurized medium circuit, which is applied to a digital hydraulic system, and which will be hereinafter referred to as a charging system, has one or more pressure circuits, which have different pressure levels and are termed charging circuits. Generally, each charging circuit has one or more lines of pressurizing media connected to each other and having the same pressure. In the following description, for the convenience of explanation, the present specification will mainly be described in a system having two charging circuits. Those of ordinary skill in the art will readily be able to apply the presented principles to system solutions having more than two charging circuits.

One example presented will deal with a high-pressure charging circuit and a low-pressure charging circuit, which does not refer to a particular absolute pressure level, but mainly to the pressure difference of the charging circuits. The pressure levels are selected to be appropriate for each application. When the system solution includes several high-voltage charging circuits or low-voltage charging circuits, it is preferred that the pressure levels of the charging circuits are different from each other.

In the description of the high-voltage charging circuit, names such as HP, HP line or HP connection will be used and names such as LP, LP line or LP connection will be used in the description of the low-voltage charging circuit. The energy required for the charging circuit is supplied by one or more charging units. In one example, energy is supplied from one or more charging circuits to a charging circuit via one or more pressure converters.

The proposed system with two or more charging circuits using a digital hydraulic actuator based on a method of powering and controlling without throttling is referred to as a Low Resistance Digital Hydraulic System (LRDHS). The power supplied from one or more charging circuits with a low pressure level (LP) is often a substantial part of the power used in the system, so that the pressure levels of the charging circuits with low pressure levels are controlled by the power production of the actuators, Sex, and energy consumption.

A feature of each charging circuit is that it can generate the required pressure and can supply and accommodate volumetric flow rates. Preferably, the pressure levels of the different charging circuits are evenly graded with respect to each other.

The charging unit refers to a pressurized medium circuit that supplies energy from outside the charging system through the pump unit to the charging circuits of the charging system. The charging unit has a pump unit as well as a control and safety valve system, whereby the suction line and the pressure line of the pump unit can be connected to a charging circuit. Advantageously, the suction line and the pressure line may be coupled to a pressurized medium tank.

Typically, one or more energy charging units at a high pressure level are connected to an HP charging circuit, and correspondingly, one or more energy charging units at a low pressure level are connected to an LP charging circuit. For example, the charging units are hydraulic accumulators or other energy accumulators that utilize gravity, which is effective, for example, for spring loads or loads that are potential energy. The position energy accumulator and its associated digital hydraulic actuators can be used as energy charging units. The operation principle of the digital hydraulic actuator will be described in detail below.

The digital hydraulic actuators coupled to each other can be used as pressure converters, thereby enabling power transmission between different charging circuits without significant energy consumption. The digital pressure converter units (DPCU) can be used when an actuator in an uninterruptible operating state is coupled to a charging circuit. In pressurized converter units, power transmission is based on the use of effective areas of actuators and how to control without stalling.

By combining the pressure converter unit with an external energy source that moves the movable part of the pressure converter unit, when the kinetic energy is converted into hydraulic energy, i.e., the pressure of the pressurized medium and the volumetric flow rate, by using the actuator, The converter pump unit (DPCPU) is used to supply energy to the charging circuits.

Digital actuators specifically refer to cylinders having a valid region encoded in binary or otherwise, the valid regions being connected to the charge circuits using different combination and nonstretching controls. Typically, force control or adjustment of force was the focus of discussion.

The digital hydraulic swing drive has one or more chambers and has one or more actuators based on throttling-free control, the actuators, together with one or more gear racks and gear wheels coupled to one or more actuators, Converts to motion. Typically, moment control or moment adjustment was the focus of discussion.

A digital hydraulic rotary drive has one or more chambers, is based on throttling-free control, and has two or more actuators mechanically coupled to a wobbler. Traditionally, moment control or moment adjustment has been achieved through force control of the actuator.

The system allows for connection of two or more charging circuits with different pressure levels through a control interface to one or more digital hydraulic actuators. As described above, the actuator unit formed by one or more actuators is used as a load, a pressure converter unit, a pump pressure converter unit, a pump, or an actuator for moving a combination of the devices at the same time. The actuator and actuator unit may be coupled to the load and may be physically or hydraulically coupled to each other depending on the application.

The technical advantages and differences of the system compared to the prior art solutions are the clear improvement of energy efficiency, controllability, simplicity of components and configuration, control over modularity, failure. In a conventional resistance control solution, the force control of the actuator is achieved by unauthorized adjustment of the pressure in the operation chamber. In this way, the pressure is adjusted by throttling the flow of the medium entering and exiting the operating chamber. Instead, the system of the present invention is based on adjusting the force and using a small number of individual, predetermined, adjustable pressure levels (e.g., HP and LP charging circuits) It has a selectable way to control actuators that operate with a simple system architecture. The force control is achieved by gradually adjusting the power using the effective areas of the charging circuits and the actuators coupled thereto with uniformly graded pressure levels. The proposed control method significantly reduces energy consumption compared to the conventional control method, for example, in combination with an actuator or actuator unit having a valid area encoded in binary or otherwise. The system also allows for maximum speed and enables very precise control and positioning.

In conventional proportional throttling control, the speed of the mechanism connected to the actuator is adjusted in a manner directly proportional to the cross-sectional area of the throttling adjustment member hole, and the adjustment member adjustment error is directly reflected in the speed of the mechanism to be adjusted. In a conventional solution, an important factor that determines and limits the accuracy of the adjustment is the optimization of the adjustment member according to the application state.

In digital throttling adjustment, the inaccuracy of the speed adjustment of the actuator can be reduced by using several on / off valves connected in parallel as control elements, and the predetermined control of the on / off valves (so-called setpoint or control value) Is made by using a predetermined individual pressure value approximating a predicted value with a high probability together with a predetermined pressure difference. By doing so, as the velocity receives a certain discrete value, the position response curve receives a predetermined angular coefficient. The angular coarseness of the error and position response curves at the achieved velocity is dependent on the resolution of the velocity adjustment, ie the number of available holes and valves.

In the proposed digital system based on throttling-free control and with acceleration adjustment, the acceleration of the mechanism coupled to the actuator is controlled in proportion to the production of the force of the actuator, which is controlled by connecting each of the charging circuits, Are connected to an available effective area so that the production of the required force is most ideal.

The speed adjustment is performed via speed feedback, and when the acceleration receives a predetermined discrete value, the speed response curve receives a predetermined angle coefficient. The coarseness of the angles of the velocity response curves depends on the resolution of the acceleration adjustment. In this way, the position response curve is further mathematically controlled by one degree when compared with direct speed control by throttling.

In the proposed system, any velocity value can be obtained theoretically, and the velocity error is very small. Thus, the factors that suggest the solution of the speed adjustment are the solution of the acceleration control, the sampling period of the control system, the response time of the control interfaces, the time required for the state change of the operation chambers, and the sensing accuracy of the sensors. The solution to the acceleration adjustment depends on the relationship between the number of available operation chambers and the encoding of the area, the number of charging circuits connected to the operating chambers and having different pressure levels, the pressure level of the charging circuit and the pressure level of the charging circuit . On the other hand, for example, the inaccuracy of throttling of the adjusting member due to the variation of the load force or the pressure and the resulting adjustment error do not occur in the digital hydraulic control method of the present invention. In this regard, compared to conventional systems controlled by throttling, the system has excellent control and management capabilities under all circumstances.

When the system has several separate actuators acting on the same object or different impact points within the same impact point or the same object, the forces generated in each actuator may be controlled independently of one another in the same or different directions , Or interact with each other to obtain the magnitude of the sum of the forces generated by the actuators in the desired direction, i.e., the sum of the forces. The sum of the forces is valid for the object acting as a load and causes acceleration, deceleration, or cancellation from the load speed. To ensure that the sum of forces has a desired magnitude and direction, the control system must adjust the force control of the actuators based on variables or variables measured or otherwise determined from the system.

The utility of the system is varied almost indefinitely, and digital hydraulic actuators are typically applied in a variety of ways such as redirection, rotation, uplift, downshifting, driving force transmission and movement, e.g. compensation such as sea level compensation. The use of such a system is best suited when there is a relatively significant inertial mass that is accelerated or decelerated in association with the production of the actuator's force with considerable energy savings. The use of the system is also suitable for controlling several actuators simultaneously operating at a variable load level.

The system of the present invention also allows the actuator to generate a retention force so that the actuator acquires an external stimulus or resists an external stimulus, i.e., the actuator produces a counter force of a corresponding magnitude, And the like. The number of actuators used in the same system is variable, and the number of actuators connected to the same part of the same object or mechanism is also variable. Particularly, from the same object or part (for example, machine frame) to the same object or part (for example, a boom or a boom) from the viewpoint of control characteristics, energy consumption and failure of the actuator unit formed between the objects, The number of actuators connected by lifting arms is important.

According to the present invention, a new solution that can save considerable energy compared to the majority of systems currently in use can be presented.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a diagram showing a system using an actuator, which is a cylinder driven by a pressurized medium, having four operation chambers, according to an embodiment of the present invention.
2 is a status table used for controlling the system shown in the figure.
3 is a diagram showing the magnitude of forces generated by the system shown in FIG.
4 is a diagram showing the function of the adjustment coefficients of the system control.
5 is a diagram showing a controller used for system control.
6 is a diagram showing another controller used for system control.
Figure 7 shows another controller used for system control.
8 is a diagram showing the operation of a control converter used for system control.
9 is a view showing a pivoting device according to an example of the present invention.
10 is a view showing an eccentric pump motor according to an example of the present invention.
11 is a diagram illustrating a system according to another example of the present invention.
12 is a diagram showing the operation principle of the pump pressure converter.
Figures 13A-13D illustrate actuators used in the system of Figure 1;
14 shows a pump pressure converter according to an example having four chambers.
15 shows a pressure converter according to an example with four chambers.
16 shows a pressure converter according to an example, having four chambers and being controlled by a control circuit.
17 shows a pump pressure converter according to an example, having eight chambers and being controlled by an orthogonal connection;
18 shows a pump pressure converter according to an example, having eight chambers and being controlled by a control circuit.

Control interface

The introduction of the pressure medium into the actuator or the recovery from the actuator is controlled by a control interface. The actuator has one or more operating chambers operating by displacement principle. Each control interface has one or more control valves connected in parallel. Preferably, the control valve is a quick shut-off valve with very low pressure loss, for example electrically connected on / off valves, and if the valves are arranged in parallel on the same line, Lt; / RTI > Depending on the control, each of the actuating chambers of the actuators is individually blocked or connected via control interfaces, for example in a double pressure system, to a charging circuit such as an HP charging circuit or an LP charging circuit. A control method in which the control interfaces connected to the actuating chambers of the actuators and having one or more valves are always fully opened or closed is referred to herein as throttling-free control.

The control interfaces operate in such a manner that the valves of the control interface or all the parallel valves are controlled to be opened or closed. Therefore, control of the control interface is either binary control, that is, setting is 1 (control interface open, on) or 0 (control interface close, off). The required valve electrical control signal is generated based on this setting.

Digital Hydraulic Actuator

To operate the control system of the digital actuator, the system must have at least one actuator with at least one actuating chamber. The elements of the force produced by the operating chamber are based on the effective area of the operating chamber and the pressure available in the operating chamber. The magnitude of the sum of the forces generated by the actuator is the product of these factors. In the present embodiment, preferably, the load force of the load controlled by the actuator, that is, the force effective on the actuator is larger than the counter force element generated by the pressure of the LP charging circuit of the actuator, It is smaller in magnitude than the counter force element generated by the pressure of the charging circuit, so that it is possible to control the force using at least two levels that control the load.

In one embodiment, the system comprises at least one actuator with at least two actuating chambers, wherein the effective zones of the actuating chambers are different from each other such that control of at least four levels of force is achieved in the double-pressurizing system. The force components generated by the different operation chambers are effective in the same direction or in different directions depending on the system and also on the behavior of the controlled load. Each of the working chambers can produce two unequal force components. In a system with two pressure levels, the ratio between the zones is preferably 1: 2, which allows equal level step force control. The corresponding system is, for example, made up of two single chamber actuators that satisfy a ratio of 1: 2 between the two zones. For example, by increasing the number of actuating chambers in the same actuator, or by adding separate actuators and connecting them to the same load, a further level of force can be obtained.

Further, by increasing the number of charging circuits with different pressure levels coupled to the actuators, a further level of force can be obtained. In this case, the level of force generated by the actuator at the same time as the number of force elements is the power function, where the base number is the number of charging circuits connected to the actuator with different pressure levels, and the exponent is the number of actuating chambers of the actuator. Preferably, the effective areas of the actuating chambers are different from each other, and the pressure levels of the charging circuits connected to the actuators are different from each other.

Preferably, the pressure levels of the charging circuits coupled to the effective area are evenly graded to provide uniformly rated force control, or the effective areas may be coupled to the HP charging circuit or the LP charging circuit The ratio between the effective areas of the actuating chambers is determined according to the number sequence M ^N, where the base number M is the number of charging circuits connected to the actuator and N is a natural number (0, 1, 2, 3, ... n) groups.

In particular, in a system with two charging circuits (HP charging circuit and LP charging circuit), the ratio between the effective areas of the operating chambers is preferably determined according to the sequence M ^N , It is a group of natural numbers (0, 1, 2, 3, ... n). That is, in the binary system, the sequences 1, 2, 4, 8, 16, etc. are formed by the weighting factors of the bits when the valid regions are combined into the HP charging circuit or the LP charging circuit using various combination combinations, Enables graded force control.

Equal gradation means that the step from one force level to the next force level or from one pressure level to the next pressure level always has a constant magnitude. The level of force is formed as various combinations of several power elements generated in the actuator, which constitute the total power. The ratios between the regions are determined according to different sequences such as, for example, sequences 1, 1, 3, 6, 12, 24, or sequences according to Fibonacci or PNM coding methods. It is possible to obtain more levels of force, for example, by increasing the number of regions in the binary sequence and other regions, but at the same time, without increasing the level of the new force, It is also possible to obtain redundancy to obtain the sum of the same forces.

The number of coupling combinations is formed with a power function such that the base number is the different pressure levels to be coupled to the operating chamber and the exponent is the total operating chamber number. The system has at least one actuator effective for the load. If an actuator with four chambers is used in a dual pressure system, the total number of operating chambers is 9, so the number of states and combination combinations of the system increases to 2 ⁸ = 256. When two or more identical actuators are combined to be effective on the same point of operation in a load, the states of the system mostly overlap each other. The actuators are effective for the load from the same or opposite direction, and the corresponding actuating chambers of the same actuators are the same in size. If different actuators are available on the same operating point from different directions, the magnitude and direction of the sum of forces available to the load can be adjusted in a desired manner. When different actuators are coupled to different operating points in the load, the magnitude and direction of the sum of the forces available to the load and the magnitude and direction of the moment can be adjusted as desired.

A particular and concise embodiment of the invention which has a sufficient number of levels for adjustment and which can be applied variously has four operating chambers whose proportion of effective area is determined according to binary sequence 1, 2, 4, 8, And an actuator capable of 16-level force control in an evenly graded manner. The actuator is configured such that the force elements generated by the operation chambers having the largest effective area and the second smallest effective area are effective in the same direction. The force components produced by the other operating chambers have opposite directions.

In this context, with certain combinations of control interfaces, the system always generates a predetermined force or moment, which does not require feedback coupling, so force control or moment control or acceleration control can be used to control force or moment or acceleration Quot; It is easy to perform gradual acceleration control using an actuator that can gradually select the generation of force, wherein the acceleration is determined by the sum of the forces generated by the actuator and the so-called effective forces It is directly proportional. In acceleration control, the system uses the magnitude of the load force imposed on the system and the magnitude of the inertia mass of the load for feedback to determine the sum of the forces generated, at which time the desired load acceleration is applied. As an easiest way, the proposed system can be applied to cases where the inertial mass of the load is kept almost constant, where the only data remaining for feedback is the load imposed on the system.

The acceleration control system can be extended to the speed control system by speed feedback combination. The speed control system can be extended to the position control system by position feedback coupling.

The requirement for reproducibility to be achieved with a predetermined reference value randomly selected for acceleration, angular acceleration, velocity, angular velocity, position or rotation is such that when the value for the relative control of the system is zero, the acceleration of the actuator must be approximately zero It is. The acceleration of the moving part of the actuator, which is force-controlled with a certain constant control value, is highly dependent on the load value applied to the actuator. Therefore, a condition must be added to the control value to compensate for the load force, and this condition is referred to herein as the acceleration zero point of the control. With this control value, the acceleration of the actuator and also the acceleration of the load are kept as close as possible to zero. The reward conditions are empirically generated by estimating, plotting, applying the coordination adjustments, and estimating the sensor values.

It is inevitably impossible that the load to be controlled by the system is kept completely unmoved by some individual control since the system can only generate individual control values on the control interface, Lt; RTI ID = 0.0 > a < / RTI > There is no loss at the time of state change occurring in the actuator, and energy consumption occurs in various ways due to the compressibility of the pressure medium when the pressure level rises in the operation chamber. Therefore, preferably, all the control interfaces are switched off so that the mechanism locks in a so-called locked state to keep the load and each mechanism properly. This function is practically feasible so that the control priority of the locked state is higher than the control priority of the control interface and the controls do not affect each other. When the locked state is turned on, all control interfaces are switched off, regardless of what combination of control interfaces is when the locked state is not turned on.

Except for the locked state, the pressure level state of the operating chambers may be represented by zero (0) indicating low pressure (e.g., connection to the HP charging circuit) 1), which represents a connection. In this way, when the operation chambers are displayed in a predetermined order, the state of the operation chambers can be clearly expressed using a binary number every moment. If there are four operating chambers, the binary number consists of four numbers. As used herein, digital control is a control method in which two or more pressure levels are used, and the actuator or actuator unit using it has a limited number of individual force levels, and this limited number is the number of actuating chambers, Is based on a combination of different pressure levels connected to different operating chambers.

Since the throttle of the volumetric flow rate is not important, the system allows maximum speed if the piston stroke of the actuator is long. The high velocity of the piston of the actuator requires a high volumetric flow rate to or from the actuating chamber of the actuator depending on the displacement principle. For this reason, if necessary, the control valves must pass a high volumetric flow rate so that the pressurized medium can flow from the desired charging circuit to the expandable moveable chamber at the required rate without interfering with cavitation.

An actuator with a valid region based on a binary sequence is useful when the reduced inertial mass is large with an actuator, using so-called throttling-free control. In this way, a large amount of kinetic energy is coupled to the load during the acceleration movement, and the position energy is coupled to the load in the up movement, and in conjunction with the acceleration or the fall of the load, the energies can be reused back to one of the charging circuits. With the throttle-free control method and the use of the effective area, the above matters are possible and can be executed regardless of the magnitude of the static load force as long as the value of the static load force is within the production range of the actuator's force. The range of power production is roughly the range of power generation between the maximum and minimum values of the individual powers that can be obtained at each time.

The greatest advantage of the system is that it can be obtained in a large operation of binding and releasing forces, for example, a strong force or moment is required to accelerate a large mass, but very weak forces or moments are required during steady operation In the braking phase, the above advantage can be obtained in a swinging apparatus requiring a strong braking force. The system has the advantage of using very little power and constantly compensating for losses in friction and viscosity, in steady, constant motion. The control is performed by selecting a suitable effective area and a pressure suitable for it from the HP circuit or LP circuit. In this way, a level of force corresponding to each control situation is selected.

The system can be used in a lift or drive transfer application (e.g., up or down drive up a hill), where the force or moment is not clearly zero, and so-called holding or holding moments are needed to produce zero acceleration of the load, Energy is saved in the same manner as described above. In this way, during certain operations as one direction, the energy is coupled to the load or its associated mechanism by guiding the pressure medium from the high pressure level charging circuit to the actuator or actuator unit. At the same time, the energy is transferred to the low pressure level charging circuit where the compression operation chamber of the actuator is coupled. When moving in the opposite direction, energy returns from the load or mechanism to the system as the pressurized medium returns from the actuator to the charging circuit. In this way, during certain operations, the effective areas of the actuator are selected such that the sum of the forces generated by the actuators approximates the required holding or holding moments and the power input to the system can withstand losses in friction and viscosity.

Compared to conventional systems, the proposed system is capable of energy saving even in the case of high losses due to frictional movement, such as, for example, propulsion or traction of an object on a frictional surface. In this case, preferably, each effective region, such as the above-described control and such, is selected to be used for each actuator under different conditions, to overcome the motion-resistant frictional forces or moments and produce the desired motion velocity . In this way, each actuator is always optimally sized taking into account the pressure of the charging circuit, where each actuator uses as little energy as possible.

Due to friction and loss of viscosity and losses in the state change of the control interface, not all input energy of the system is returned to the charging circuit.

The method of controlling the system automatically performs as much energy collection as possible, for example, during braking and / or descending phases of the inertial mass whenever motion or potential energy is released from the load or a mechanical system associated therewith. In this way, effective areas and actuating chambers that previously generated force elements that accelerate and / or elevate the inertial mass contribute to energy collection. The operating chambers are connected via a control interface to a charging circuit to which energy is to be returned or transferred.

Charging system

In terms of system operation and energy savings, all the charging circuits connected to the digital hydraulic actuator can essentially supply and receive the volumetric flow rate without fundamentally changing the pressure levels of the charging circuits.

Using a charging system, energy transfer between the energy charging units is possible whenever necessary. If the operating cycle of the system is energy coupling (load, for example, lifting a massive object high), the required energy is introduced into the system, for example by pumping the pressurized medium, And then flows into the HP circuit from the LP circuit. If the operating cycle is an energy release (load, for example, a massive thing falls down), the energy is converted to hydraulic power and used as needed or stored in an energy charging unit. If storage is not possible, the hydraulic power is converted back into kinetic energy, for example, by rotating the motor or electric generator so that the pressurized medium is conducted from the HP circuit to the LP circuit. This conversion is performed using, for example, the charging unit or other corresponding energy converter. The operating cycle of the actuators of the system has both energy coupling (e.g. acceleration of massive objects, load elevation) and energy release (e.g. braking of heavy objects, descent of load). When the system has several actuators, the different actuators have energy combining and energy release working steps at the same time.

The load sensing system (LS system) is the most typical solution according to the prior art, which is independent of the load pressure and is controlled by the volume flow rate, permitting pressure loss composed of the pressure loss as well as the load pressure of the pipe system, Allows pressure differential setting of throttle control of volume flow rate of medium (typically about 14 to 20 bar). The operating pressure of the system in the parallel connected drive is adjusted and also in a system operating normally in several parallel drives the pressure difference to the control throttle of the volumetric flow rate, according to the highest load pressure level, and also according to the actuator, The pressure is kept constant using a compensator, so that the energy is wasted in the form of losses in the pressure compensator.

Digital hydraulic systems based on throttling-free control methods have several actuators in which the operating cycles are arranged in some way relative to each other in a timely manner, which system is clearly more energy efficient than the LS system according to the prior art. In a digital hydraulic system, depending on the requirements of the available pressure level and the production of the force, it is possible to select the actuating area suitable for use in each actuator to obtain the desired power production and speed with minimum energy consumption.

Because the digital hydraulic system adapts to the pressure providing circuits using the effective area, the digital hydraulic system is not sensitive to interference due to pressure changes in the pressure providing circuits (charging circuits). In both the conventional systems and the proposed system of the new type, the pressure levels of the charging circuits can be changed more clearly if the power requirements of the actuators exceed the power production capacity of the charging unit. In the proposed digital hydraulic system, the pressure of the charging circuits is freely variable within a certain limit, the tunability is still excellent, and this pressure variable does not significantly affect energy consumption. Preferably, the pressure of the charging circuits is continuously measured to determine the combination of actuating chambers of the actuator to obtain the sum of the desired forces. In this way, the amount of energy consumed also meets the requirements exactly. In the proposed system, the change in pressure of the charging circuits causes a problem only if the change is strong enough to cause the static load force to deviate from the production range of the actuator's force.

An Example of Digital Hydraulic System I

1 shows an example of a digital hydraulic system based on a throttling-free control method, consisting of a pressurizing medium, a charging circuit, an energy charging unit, and a cylinder actuator having four chambers driven by control valves of a control interface .

The system comprises, as a charging circuit, one HP line (high pressure line, P line) 3 and one LP line (low pressure line, T line), line 5 connected to chamber A of the actuator, line 6 connected to chamber B of the actuator A line 7 connected to the chamber C of the actuator, and a line 8 connected to the chamber D of the actuator. The hydraulic power is supplied to the charging circuits 3, 4, for example, by a charging circuit whose operation will be described below.

The system also has a control interface for controlling each chamber connection to the HP line and the LP line. A control interface 10 (A / LP / T), a control interface 11 (HP / PB), a control interface 14 (C-LP / T), a control interface 15 (HP / PD, and a control interface 16 (D-LP / T).

The system also has an HP accumulator 17 connected to HP line 3, and an LP accumulator 18 connected to LP line 4. In this example, the system has a compact actuator 23 with four operation chambers, wherein the two operation chambers A, C operate in the same direction and extend the cylinder used for the actuator 23, (B, D) operate in the opposite direction and shrink the cylinder. The actuator 23 has an A-chamber 19, a B-chamber 20, a C-chamber 21, and a D-chamber 22. The actuator 23 is effective for the object operating with the load L.

The HP line is divided into actuating chamber lines 5, 6, 7, 8 of the actuators via high pressure control interfaces 9, 11, 13, 15, respectively. The LP line is divided into the actuating chamber lines 5, 6, 7, 8 of the actuators via low pressure control interfaces 10, 12, 14, 16, respectively. Lines 5, 6, 7 and 8 are connected directly to the operating chambers 19, 20, 21 and 22, respectively. The pressure control valve can be connected to the line of each operating chamber as needed. The lines and control interfaces constitute the control circuit 40 required for the control of the actuator 23.

In the system of Figure 1 used as an example, the actuator 23 is configured such that, for regions of the actuating chambers, the region value proportional to the smallest region is the weighting factor of the binary system (1, 2, 4, 8, 16, So that the actuator 23 is also configured to be binary encoded. Binary encoding of regions is the most useful way to obtain the maximum number of different power levels using the least number of actuating chambers, so that forces are evenly graded in terms of force control by digital control. The actuator has four operation chambers, each of which is used in two different states (corresponding to two different force elements), called high pressure and low pressure, where HP line 3 or LP line 4 And is connected to each operation chamber.

The force components F _A , F _B , F _C , and F _D generated by the operating chambers are shown in FIG. The state can also be expressed as zero (0, low pressure state) and day (1, high pressure state). In this case, the number of state combinations is 2 ⁿ , where n is the number of actuating chambers and the 16 different states combinations of actuating chambers can be represented in the example, so that the sum of the 16 different forces is applied by the actuators And the magnitude of the force is evenly graded from the smallest magnitude to the largest magnitude by binary encoding. Since the level of each force is generated by each state combination by binary coding, there is no redundancy. Since all the operating chambers are different from each other, there are no force components with equivalent absolute values. In one example, the direction of operation of the different force components is somewhat contradictory, and their sum of forces, together with the pressure levels of the LP and HP circuits, determine the force generated by the actuator and the direction of its opposition to the actuators. Therefore, by adjusting the LP and HP pressure levels, the actuator can be used to generate a sum of forces in only one direction or in two opposite directions. This depends on the direction in which the sum of forces is required or in which direction it needs to be used.

In another embodiment, the charging circuits, for example HP line or LP line, or both lines may be connected to the respective operating chambers.

The controller included in the system of Figure 1 controls the operation of the actuator and controls the system of Figure 1 to provide a series of operations related to the generation of desired forces, moments, accelerations, angular accelerations, velocities, angular velocities, Which may be part of a larger control system. If the system has several actuators, it has its own controller for each actuator. The guiding value is given automatically or manually, for example, as a joystick. The control system generally follows a desired algorithm and has a programmed processor that receives the necessary measurement data from the sensors for actuator control. The control system controls the controller according to the functionality required by the system, for example.

The different combination of valves allowing the actuator to produce a sum of the different forces and allowing the control interfaces 9 to 16 to operate is such that the sum of the forces generated by the different states of the valve is, So-called control vectors of the controller are arranged in order of magnitude. This is possible by increasing the 4-bit binary number in the selection of the state of the operating chamber in the case of the cylinder 23 having the binary coded region, in which the bits indicating the states of the working chambers 20, 22 valid in the negative direction are Of the total. In the binary number used to select the state of the actuating chambers and to control the actuators, the importance of each bit is proportional to the effective area of the actuating chambers. In this way, the sum of the forces generated by the actuator is controlled in proportion to the indexing of the control combination selected from the control vector in the control vector. The control combination refers to a control combination of control interfaces.

Fig. 2 shows an example of a state table of a cylinder actuator having four chambers, corresponding to the system of Fig. The effective regions of the operating chambers are encoded with binary weighting coefficients. A: B: C: D = 8: 4: 2: 1. The state table shows how the effective surfaces are changed under different pressures when proceeding from one state to the next. For this reason, the force responses generated by the actuators are also evenly graded.

In the column "U% ", the indices for the different controls are given in decimal. In the column "dec 0 ... 15 ", a decimal number corresponding to the binary number formed from the binary states (HP, LP) of the operating chambers is given. In columns A, B, C, and D, the binary states of the chambers are represented in such a way that state bit 1 represents high pressure (HP) and state bit 0 represents low pressure (LP). In the columns "a / HP" and "a / LP ", the effective areas connected to the HP and LP pressures of the actuator are represented by a proportional number, provided that the ratios of the areas are satisfied. At column "dec 0..0.255", a decimal number corresponding to the binary number formed from the binary state of the control interface is given. The control interfaces corresponding to the respective controls (1 for open 0 is closed) are shown in columns A-LP, HP-A, B-LP, HP-B, C-LP, HP- And binary states. If the number of charging circuits is increased, it is possible to increase the number of states of the operating chambers, for example, by using a ternary system (numbers 0,1,2), a quadrature system (numbers 0,1,2,3) It is clear that the status can be displayed.

FIG. 3 is a force graph for a case shown in the state table shown as an example in FIG. 2, and for a four-chamber cylinder having, for example, ideal binary coded regions according to FIG. In the above detailed example, the diameter of the cylinder piston is 85 mm, the pressure of the HP circuit is 14 MPa, and the pressure of the LP circuit is 1 MPa. The upper graph in the graph of FIG. 3 shows the sum of the forces generated by the actuators, which are achieved using different combinations of working chambers, in which the actuating chambers are coupled to the HP and LP circuits according to the state table of FIG. 2, .

In the lower figure, the upper curve shows the production of the actuator force by representing the sum of the rated forces as a continuous function. The downward curve shows that in this case, the curve proportional to the acceleration of the piston or piston rod of the actuator, which is calculated by adding the influence of the external load force resisting the expansion or resisting the expansion of the actuator to the sum of the forces generated by the actuator, Showing the effect generation. The load power depends on the application case and the load generated by the control target. In this example, inhibition of external forces is considered negative. That is, it lowers the effluent curve, and the external traction raises the effluent curve upward, in this example, to promote the expansion of the actuator. An approximation to this control value, or to a control value whose measurement effect or acceleration is zero, is derived from the graph. The zero force point represents an approximation to a reference value whose zero-flow efficiency is generated by the actuator. The zero acceleration point represents a control value at which the acceleration of the moving part of the actuator is zero. In the case of cylinder actuators, if the load is connected to the piston rod, the moving part is the piston and the piston rod, and the frame is not moving. On the other hand, if the load is connected to a frame, the moving part is a frame that moves relative to the piston and the piston rod. In the case of a binary actuator, the curve in Fig. 3 is a linear function, that is, a straight line, which is a first order polynomial.

An Example of Digital Hydraulic System II

Fig. 11 shows an example of a system which is a digital hydraulic system based on a throttling-free control method. The system of yet another embodiment includes one or more actuators of FIG. When there is a corresponding element, the reference numerals of the elements in Fig. 11 correspond to the reference numerals of the elements in Fig. Thus, a digital hydraulic actuator based on a throttle-free control method is applied. The system comprises at least one actuator 23 and at least two charging circuits 3, 4, 121 from which the oil pressure is supplied to the operating chambers of the actuator 23. Actuator 23 and control circuit 40, DACU may be used as part of an energy charging unit, and may, for example, be a potential energy charge in spring 113 or rod L. The load L refers to, for example, a load that is controlled by force control. One or more charging circuits are coupled to each actuator used as part of the energy charging unit. Two or more charge circuits are connected to each actuator that controls another load. The charging circuit is connected to the actuator by means of a control circuit having at least the necessary control interface (see FIG. 1), whereby each of the operating chambers can be connected to a charging circuit, which is generally a closed connection. Preferably, all of the actuating chambers of the actuators are closed and may be connected to all the charging circuits belonging to the system. Each control interface is implemented, for example, with one or more on / off type valves. The valves are arranged in the valve block, for example, with the necessary lines.

Each control circuit 40 constitutes a digital acceleration control circuit (DACU) together with each controller. More detailed operating methods and control algorithms of the controller depend on the application of the actuator. In the figure, the charging circuits to be connected to the unit are denoted by HPi, MPi, LPi, where i is an integer. Arrows included in the sign of the actuators indicate adjustability based on different pressure levels and effective areas. An example of controller execution is shown in Fig.

As shown in FIG. 11, the system includes at least one charging unit 110 for generating the required fluid pressure in the charging circuit 3, 4 connected to the charging unit 110. The one or more charging units may be connected to each charging circuit or indirectly through another charging circuit or indirectly (for example, the pressure converter 112 of FIG. 11 or the pump pressure converter 122 of FIG. 12) In the case of a receiving charging unit (for example, charging units 116 and 117 indicated by HPia, HPia, LPia (i is an integer)) are not connected to the charging unit. The charging unit 110 includes, for example, at least one pump unit 111 having a conventional hydraulic pump and a hydraulic pump unit 112 having its drive.

When the pump unit has several hydraulic pumps connected in parallel or at least one pump with unequal capacity, the capacities are controlled independently of each other, and the oil pressure is simultaneously transferred between the charging circuits having different pressure levels.

The charging circuit 110 is provided with a control and safety valve system 124 whereby each line of the pump unit is connected to a respective one of the charging circuits 110, Or to the tank line and the tank (T). The control and safety valve system 124 is used to control so that the pressure level does not rise too high within the charging circuit or within the line of the pump unit.

If the system has charging circuits that are not connected to the same charging unit, the energy is transferred between the charging circuits using, for example, a pressure converter. As an example, the charging circuits HPi and HPia of FIG. 11 have been mentioned wherein energy transfer from two or more charging circuits to the two or more charging circuits simultaneously through a pressure converter is possible.

One or more energy charging units may be connected to each charging circuit. The energy charging unit may be a conventional accumulator 17 or 18 or a digital cylinder actuator 23 that charges energy in the form of position energy, for example, a load L or spring 113 )to be. The energy is charged as potential energy into a compressible gas or other form of energy. The pressure of the charging circuits is maintained at a desired level by the energy charging unit and the charging unit.

Digital hydraulic actuators based on throttling-free control and conventional actuators controlled by throttling control valves are both coupled to respective charging circuits as shown in Figures 13c and 13d. Figures 13c and 13d

In addition, one or more subcircuits may be connected to each charging circuit using a digital hydraulic actuator, which may be a pressure converter or a pump pressure converter. The subcircuit may be configured such that its uninterrupted operation is dependent on the energy input from other charging circuits It is a charging circuit. In other respects, the same principles applied to other charging circuits apply to subcircuits.

charge Unit

Now, the operation of the charging unit 110 will be described. The hydraulic pump unit 120 may include one or more hydraulic pumps or pump motors, which are conventional type or conventional pump motors with one suction line and one pressure line, or may be used both as suction line and pressure line Digital hydraulic motors or pump motors with several lines. In this example, line 119 is a suction line of a conventional hydraulic pump that receives a volumetric flow rate, and line 118 is a pressure line that carries a volumetric flow rate. The function of the control and safety valve system 124 is to connect the line 119 to a charging circuit for delivering the pressurized medium and to connect the line 118 to the pressurized medium and the charging circuit to which the hydraulic pressure is to be supplied.

Under the control unit, the pumping algorithm of the charging unit 110 is generally effected by the principle that the line 118 is always connected to such a charging circuit, where the relative pressure deviation from the minimum of the target pressure window or target pressure It is the largest. In a corresponding manner, the line 119 is always connected to this charging circuit, at which time the relative pressure from the maximum of the target pressure window or target pressure is highest. If the pressure of the charging circuit does not exceed the maximum value or the target pressure of the corresponding target pressure window, the line 119 is connected to the tank line (tank T), and in a corresponding manner, Where the relative pressure deviation from the minimum of the target pressure window or target pressure is greatest. The line 118 is connected to the tank line (tank T), and in a corresponding manner, the line 119 is connected to this charging circuit (tank T) when the pressure of all the charging circuits exceeds the maximum value or the target pressure of the corresponding target pressure window. , Where the relative excess from the maximum value of the target pressure window is the highest. In this case, the energy is transferred from the charging circuit through the pump unit 111, for example by kinetic energy, or transferred from the charging circuit through the pump unit 111, for example to the generator and the rechargeable battery It is used for electric energy production.

In order to prevent the vibration of the pump unit 111, the coupling is changed at a sufficiently long time interval, for example, at a coupling period of at least 1 second. If the pressure of one of the charging circuits differs from the target pressure or target pressure window, the line 118 remains connected within the range in which the target pressure is achieved. If the pressures of all the charging circuits remain below the minimum value of the corresponding target pressure windows, the pressures are alternately connected by the algorithm and also by keeping the relationship between the pressures the same as the relationship between the corresponding target pressures. In this way, the performance of the actuators remains good even though the charging circuit is still in the charging phase and the target pressure is not yet achieved. When the pressures are deviated from the corresponding target pressures in the other direction, the pressurizing medium is removed from the charging circuit, at which time the relative excess of the target pressure of the pressure level is highest and the pressurizing medium is supplied to the charging circuit, Lt; RTI ID = 0.0 > a < / RTI >

In situations where the actuator directly requires a large amount of force to move the load, the charging of a given charging circuit may be prioritized over the charging of other circuits for a while or permanently, or some charging circuit may be used by the actuator Lt; / RTI > The control unit is configured to perform the above operation in the charging unit 110 and controls the components based on a measurement, which in particular also comprises pressure measurements of the different pressure circuits, by means of appropriate control signals. The charging circuits and the lines of the charging unit preferably comprise a pressure sensor connected to the control unit.

Controller of digital hydraulic actuator

The following will describe the controller used to control the system, which uses the reference value to calculate the control value required to control the load using the actuator. In this case, the control value is a value indicating the state of the control interfaces and the state of the control valves thereof.

There are several possible controller operating methods, some of which will be presented here. It is a common feature of the different controllers that the controller calculates the optimal state of the control interface, i.e., the position (open or closed) of the control valves. The control calculation is performed based on the predetermined reference value and the measured variable. The digital output of the controller is used to set the position of the control valves.

When the states of the control interfaces are represented by binary numbers 0 and 1, the number of output combinations is a total of 2 ⁿ , where n is the number of outputs. Only some of these combinations are used, since situations in which both the HP circuit and the LP circuit are coupled to the same operating chamber at the same time are not allowed. This situation can be solved by a control interface 11 (HP) which is capable of inducing a short circuit flow from the HP circuit to the LP circuit and a deviation of the pressure of the operating chamber 20 from the pressure of both the LP circuit and the HP circuit, -B) and the control interface 12 (B-LP) are both opened. Short-circuit flow results in energy loss, a situation that must be avoided. The adjustment method of the present invention is substantially different from the proportional adjustment in which the motion state of the system is controlled by a single control valve in a stepless manner.

The operation of the controller 24 is shown in the figure at a schematic level suitable for system simulation. Based on the principles shown in the schematic, an expert in this field can design and execute the necessary controller devices (control algorithm / control software) connected to the system for controlling the load. This is generally a processor suitable for signal processing and controlled by software to execute a given computing algorithm. The controller has inputs and outputs necessary for receiving and generating signals. The controller forms part of a digital acceleration control unit (DACU).

In describing the control coefficients in this specification, the input variable (output) is calculated so as to be the sum of the conditions P (amplification), I (integration) and D (differential) A reference is made to a means known to adjust the In1. In general, the input is a remainder calculated from a set value or a reference value based on the measured value. More accurate figures for efficiency can be obtained empirically or by calculations in conjunction with controller tuning.

FIG. 5 shows a controller 24 for the four-operation chamber actuator shown in FIG. The corresponding controller can be applied to an actuator or an actuator unit having a corresponding coded operating chamber region. The principle of the controller 24 may be extended to other than a four-chamber or binary encoded actuator.

By feedback combination of acceleration data as well as data on forces generated by the controller by the actuator, the force control system can be accelerated. Based on this, it is possible to calculate the compensation condition for generating zero acceleration for the control, which can accelerate the actuator as desired regardless of the load force.

The acceleration control system may be speed controlled by providing a speed reference value to the controller and comparing the speed reference value with the speed data measured from the actuator (speed feedback). In this way, the force generated by the actuator is compared with the speed difference variable, i.e., the difference between the speed reference value and the actual value, or in proportion to the speed data. The difference variable is adjusted by the member shown in Fig.

The speed control system can be position-controlled by providing a position reference value to the controller and comparing the position reference value with the position data measured from the actuator. In this way, the velocity reference value of the actuator to be input to the velocity system is adjusted in proportion to the difference between the position difference variable, i.e., the position reference value and the actual value. The position control system implemented in this way based on the force control of the actuator is an example of a so-called secondary control system.

The controller 24 of FIG. 5 adjusts the actuator inner position, performs the secondary control, and converts the calculated control value into a state combination of the control interfaces. The controller receives the reference value 26 and the position data 27 for the position of the actuator, and calculates a difference between them, that is, a position difference variable. The position difference variable is adjusted in the position control block 61 (position control coefficient) to form the speed reference value 28 by the member 25 shown in Fig. The speed data 29 is subtracted from the speed instruction value 28 to obtain the speed difference variable. The speed difference variable is adjusted in the speed control block 38 (speed control coefficient) by the member 25 shown in FIG. 4 to be saturated in the range of, for example, -1 to +1, To thereby form a force control value 31 that is input to the control unit. The control values adjusted in this way are further easily adjusted to form control values of the control interface. If the I-condition in the coefficient of the speed control block 30 is zero, that is, if the integral control is not used, the control value 31 is proportional to the desired acceleration, and the control value 31 is referred to as a relative acceleration control value do. When integral control is used, the control value 31 approximates a variable proportional to the production of the desired force, and the condition for compensating the load force is no longer added to the control.

The function of the control converter 32 is mainly to convert the control value 31 into binary control of the control interfaces. If integral control is not used, for this function, the control converter needs information about the load force available to the actuator, and adds a condition proportional to the load to be controlled to satisfy the desired acceleration. The control converter 32 also examines the data obtained by the real-time sensor data, the speed data 29 and the speed difference variable 34 with respect to the position difference variable 33, and based on the examination result, , And determines whether the system should be placed in the lock position by closing all control interfaces. For example, if the predetermined position reference value 26 or the zero velocity is achieved with sufficient accuracy, it is not necessary to continue the control because energy is consumed to change the state of the valves. Control converter 32 needs reference value 35 for the type of lock condition to be used. Alternatives include, for example, 1) no lock state is used in any case, 2) always lock manually (this is called "forced" in override type), 3) , And 4) there is a way to lock by the need of speed control.

The function of the control converter 32 can be divided into several individual converters, for example, so that each converter controls the control interface of a single actuator. The control value 31 for acceleration, that is, the relative force control value, may be input to all converters that calculate positions corresponding to the desired acceleration depending on the load situation.

Alternatively, the function of the control converter can be separated into module parts on the main level of the controller. In this way, in the same way that a common operation for vector value control is performed, which is adjusted individually based on several variables obtained from the system before being input to the parts of the control converter, several It is possible to control the actuators. Alternatively, it is possible to control several actuators in the same control converter from a single common individual control of the system using various control vectors, i. E. A control conversion table.

The delay block 36 is not required, but may be used to perform optimization that is effective for the function of the valves of the control interface. For example, the function of the delay block 36 is to delay the modification of the control values 37 of the valves on the rising edge of the digital control and, if necessary, control the opening of the control interface will be. The necessary delays are calculated, for example, based on the velocity data 29 of the actuator.

Next, the controller of the speed control system will be described.

6, the speed control system requires a velocity reference value 28 and velocity data 29 of the actuator for actuation, which may be, for example, data measured directly from the velocity sensor, , And positional changes with timely changes, i. E., Changes that are distinguished from positional data. The position control loop is omitted from the speed control system. For other parts, the speed control system operates in the same manner as the position control system of Fig.

Next, the controller of the speed control system will be described.

The acceleration control system requires the velocity data 29 of the actuator as feedback sensor data. However, this is not used for control, and is used, for example, for the locking system required in control converter 32 as shown in Fig. The lock system also requires data on the speed difference variable, or data on the state of the control value 31, i.e., how much the control value varies from zero. For other parts, the force control system operates in the same manner as the position control system of FIG.

Also, in the speed and acceleration control system, intelligently adding the open delay of the control interface is useful with the delay block 36 of FIG.

The operation of the control converter of the controller is shown at the level of the schematic in Fig. 8, and the state table of Fig. 2 used in the converter is also mentioned at the same time. Based on the predetermined control value 31, the control converter 32 produces binary states 38 suitable for the control interface. Since the levels of the individual forces are uncertain, the control value 31 may be adjusted if necessary, level-transformed, and may be rounded to an integer. If integral control (blocks 61, 30) is not applied to the controller, an estimate 38 for the weighted zero point or a variable proportional thereto is added to the control value 31 in the control converter 32. [

The relative force control value 31 of the actuator must be adjusted to an exponential range for controlling the state table of the actuator (Fig. 2, u%), which, in all load situations, And generating a control value of the acceleration zero point on the input. This is done in this example by multiplying the relative force control value by the absolute value of the exponent range for control and then adding an estimate 38 to the acceleration zero point to the signal. The result is saturated to an exponential range of 0 to 15 and is rounded to the nearest integer, where the individual control value u% is formed.

Then, the decimal numbers corresponding to the binary numbers formed in the binary states of the control interfaces are extracted from the list table (0 ... 255) corresponding to the respective control value u% corresponding thereto, Log-digital) conversion is performed. The decimal number retrieved from the list is converted to binary, and the bits of the binary are separated into their respective outputs according to the status table. In this way, binary control 39 (opening and closing) is formed for each valve. In the lock situation, the control of each control interface is set to a state corresponding to the closure.

Management and optimization of energy consumption in actuators

Next, a change in the states of the operating chambers of the system will be described. If the pressure of the operating chamber rises from LP pressure to HP pressure, the pressurizing medium in the operating chamber is also compressed and the structure of the system is somewhat deformed, so that if the linear compression is not performed using the system's own kinetic energy, Energy must be supplied to the operating chamber. If the pressure is reduced to the LP pressure, then the energy coupled with the compressed pressurized medium is not wasted if it is not desired or able to combine the energy with the kinetic energy to be used in the system by expansion (line expansion) of the pressurized medium do. The larger the operating chamber in which the state change takes place, the larger the volume of the pressurizing medium and the greater the amount of energy consumed or released from the state change. Therefore, the number of state changes directly affects energy consumption.

Looking at the state table of Fig. 2, it can be seen that if different control values u% change, a different number of operating chamber specific state changes occur. In the control values u% = 4 and u% = 5, the states of the smallest operating chambers (D-chambers) are changed, while in the control values u% = 7 and u% = 8 the states of all the operating chambers are changed . As a result, the state change between u% = 4 and u% = 5 consumes several times less energy than the state change between the control values u% = 7 and u% = 8.

In terms of energy consumption, it is advantageous to always perform the state change of the control interface connected to the LP circuit and the state change of the control interface connected to the HP circuit of the same chamber at the same time, because in this case one of the control interfaces The control interface of the other control interface starts to be closed, and at the same time, the other control interface starts to be closed. Thus, for example, if the closed members of the control valves move at the same time, the control interfaces are both open halfway, so that a significant amount of volumetric flow (so-called short-circuit flow) is passed instantaneously which results in consuming energy . In this specification, this phenomenon is referred to as a burst state change since it is a short-term power loss.

The power loss can be reduced by increasing the operating speeds of the control valves and taking this into account when controlling the system.

It is advantageous to set the open delay for the control interface connected to the HP circuit, in terms of energy consumption, if the operating chamber shrinks and the pressure must rise from LP pressure to HP pressure. In this way, when the control interface connected to the LP circuit is closed, the operation chamber is closed for a predetermined time. When the operating chamber is further contracted, the pressure in the operating chamber rises (linear compression) and the control interface connected to the HP circuit is opened without unnecessary power loss at the moment the pressure in the operating chamber rises to the level of HP pressure. A corresponding advantage can be obtained when the operating chamber is expanded and the pressure is changed from HP pressure to LP pressure. In this way, an open delay is set in the control interface connected to the LP circuit, that is, when the operation chamber is expanded and the pressure of the operation chamber is reduced to the LP pressure level (line extension) Closing and waiting the chamber. In this way, the control interface connected to the LP circuit can be opened without power loss. In other state changes, it is difficult to avoid power loss and no open delay is used.

The open delay is controlled in the controller 24 of FIG. 5, for example, in the delay block 36 as shown above.

In one example, in order to minimize power loss in the state change of the operating chamber, in conjunction with the state change, for example, between the pressures of the HP circuit and the LP circuit, a pressure set approximately halfway between the two pressures It is possible to use the level. 11, it is a charging circuit 121, that is, an MP circuit. Preferably, at least one energy charging unit, for example an accumulator, is connected to the MP circuit.

In a system having three or more pressure levels, the remaining pressure level between the two pressure levels of the operating chamber can be used to perform a state change between the two pressure levels of the operating chamber with little loss. We will describe the state change of the operation chamber of a single digital hydraulic actuator. At the beginning of the state change, the operation chamber is under LP pressure. Initially, the MP circuit is connected to the operating chamber, and the pressure increases in the operating chamber. When the pressure level is close enough to the HP pressure or at the maximum pressure, the HIP circuit is connected to the operating chamber, where the pressure fluctuations are small and the pressure excess rarely occurs. At any stage, it is not necessary to throttle the pressurized medium flow, and as a result, a nearly lossless state change can be performed. The energy required for the state change is released to the kinetic energy of the charging circuit from the operation chamber or the charging circuit by the parasitic inductance of the piping and further released to the pressure energy of the operation chamber.

The change in state from the HP pressure to the LP pressure in the operation chamber is also performed in a manner corresponding to the above. First, the MP circuit is connected to the operating chamber, and when the pressure is at its greatest, the operating chamber is connected to the LP pressure. The energy is combined and released at a state change as described above.

Control and optimization of the pressure levels of the charging circuits

Next, the influence of the HP and LP pressures on the grading and force levels and the adjustability of the sum of the forces generated by the actuators are described.

If the LP pressure is very low, the maximum thrust (sum of positive forces) and maximum traction (sum of negative forces) both increase as HP pressure increases. Thus, as the area of the force range increases, the number of levels of force does not change, so the difference between the levels of force also increases. In applications, it is appropriate to use a very high ratio between HP and LP pressures, at which time the magnitude and direction of the sum of the forces required varies considerably. After the HP pressure is set to a predetermined level and the LP pressure is increased, the sum of the positive forces that can be obtained with the best individual control is reduced, and the sum of the negative forces obtainable through the lowest individual control is shifted in the positive direction At this time, the range of the force of the actuator is narrowed. As the LP pressure increases sufficiently, the sum of the forces that can be achieved through the lowest individual control moves closer to the sum of the positive forces that can be achieved through maximum individual control, moving from negative to positive. When the range of the force is narrowed, the difference between the levels of the force becomes narrow, and at this time, the change in the acceleration of the actuator also decreases at the same time. This improves the adjustability when the load power is not largely variable, that is, when the load power is within a predetermined allowable value. Thus, in some applications, it is appropriate to make the LP and HP pressures actively adjusted, if necessary, to ensure that a range of forces can be produced to produce the force required to move the load in an optimal manner. The proposed method reduces energy consumption because the HP and LP pressures are closer to each other as the power loss of the burst state change is smaller. Also, the smaller the difference in level of force, the more accurate the adjustment, the easier the optimization, and the better the energy efficiency.

If the system does not have alternative storage units for the pressurized medium, the amount of pressurized medium contained in the accumulators limits the maximum pressure of the HP circuit. On the other hand, the minimum pressure of the LP circuit is determined by the processing capacity of the control valves, and is proportional to the pressure difference, together with the required speed of the actuator, at which time the HP and LP pressures can not be correlated and adjusted. To adjust the HP and LP pressures without correlation, the system should include an alternative storage unit for pressurized media. The storage unit may be, for example, an accumulator or a pressurized medium tank.

Controller optimization

Next, estimation of the compensation condition of the load force will be described.

In order to take account of the load force in the adjustment of the position and the speed as well as the acceleration, for example, only the measurement data 27 and the integral data 29 based on the velocity data 29 measured or integrated from the position data Adjustments can be used. Alternatively, based on the acceleration data acquired from the acceleration sensor fixed to the moving part of the system and the data obtained based on the production of the actuator force, the condition for compensating the load force, that is, the acceleration zero point estimate 38, Value 31, it is possible to estimate a so-called acceleration zero point.

Using the system shown in Figure 1, the estimate is based on an equation of the force of the continuous state of the system, where the acceleration is zero.

Where a = 0,

Here, forces effective in the direction of extending the length of the actuator by the piston of the actuator are positive forces, and forces effective in the direction of reducing the length of the actuator are negative forces.

From here

Assuming that the acceleration is zero, the control u% of the actuator, which is rounded to an integer, i. E., Has an individual value, is set such that if the static or dynamic load force is valid, the absolute value of the recognized acceleration is maximized to zero I need to get closer. The control of the actuator has a limited number of discrete states where the zero acceleration is not frequent in the above states, but the theoretical control with continuous values can be used between the individual values to calculate the correct value for the required control I have to think. And the theoretical control with zero, the continuous value to calculate the acceleration as the acceleration zero point u _a0 herein. The control is used in place of the individual control of the actuator in the equation.

If real-time sensor data or estimated data is obtained based on load power, LP pressure and HP pressure, the term u _a0 can be solved from the equation of real-time force.

The term u _a0 represents the equivalence of the stepped control value u% with or without a continuous value, and this equivalent is the zero-acceleration value of the actuator when added to the control adjusted to the zero value indexing range of the actuator prior to the arithmetic operation, Generate an approximation. In this way, the individual control u% of the actuator is moved accurately by the required shift, and the required compensation effect is realized.

In the above-mentioned equations, the term D ₁ is the diameter of the working chamber 19 (largest A-chamber), p _HP is the pressure of the HP circuit, p _LP is the pressure of the LP circuit, F _load is the pressure of the actuator Is the magnitude of the reduced load force. The term u _a0 is varied from 0 to 15 in this example. The left side of the equation of force represents the force F _Cyl produced by the actuator. The force produced by the system also depends on the selected step of the control value u _a0 (see FIG. 2), and this force should be equivalent to the load force at the acceleration zero point.

The sum of the forces available to the system is calculated, for example, by multiplying the acceleration obtained in the form of sensor data by the reduced inertia mass for the actuator. The home force F _{cyl imposed} by the actuator can be calculated directly on the basis of the individual control of the actuators but a more reliable result of the production of the force in all situations is that the force is calculated based on the measured pressures and effective areas of the actuating chambers Or directly obtained as a measurement result from the force sensor. Now, the load force F _load is obtained as the difference between the sum of the forces and the force generated by the actuator. The value of the load force obtained as a result of the calculation can be inserted into the equation of the acceleration zero point with HP and LP pressures, where the equation yields an acceleration zero point as a result. Alternatively, the load force F _load corresponds to the curve of the force of the actuator and can be inserted into a table stored in the control converter 32 in the same manner as the state table of Fig. The control values required to generate the same force as the load force can be found by the load force shown in the table. The method based on the table is functionally special when the size setting of the effective regions is such that the levels of force are unequally graded, e.g., deviating from a binary sequence.

The calculated or tabulated control value (estimate 38) is added to the control value 31 of the actuator, for example, in the control converter 32, and then the control converter calculates the control 39 of the control interfaces do. Compensation of the load force is performed, for example, in a separate control block or in the compensation block 48, as shown in Fig. The inputs of the compensation block 48 are the pressures of the HP and LP circuits, the pressures of the actuating chambers, as well as the acceleration of the moving part of the actuator. Also, if the friction and torsional forces of the actuators are included in the module for estimating the forces produced by the actuators, then the position and velocity of the actuators are also required as inputs. The inputs of the controller are obtained, for example, from suitable sensors arranged in the system. The acceleration control point estimate obtained with the output from the compensation block 48 is input to the controller converter 32.

Fault control and optimization in the control interface

Next, the system and method to be applied in the system of the present invention, particularly the controller of the system, will be described. If a valve is defective, the operation of the control interface is interrupted, which is a consideration in the operation of the controller used for system control.

The principles of the above-mentioned method can be applied to a system having two or more pressure levels, in which, in the event of a failure, one or more valves of the control interface are permanently closed or open, Can be applied. In one example situation, a four-chamber cylinder actuator in a dual pressure system will be described.

When the valves are permanently closed, the actuating chamber of the actuator must be kept closed during the locked period of the actuator or during the precompression or line expansion of the actuating chamber. Also, in a jamming situation, the maximum velocity of the actuator is limited to prevent cavitation of the actuating chambers connected to the HP and LP circuits or to prevent overpressure of the actuating chambers during movement of the piston. The fact that the operating chamber is in the closed position means that all control interfaces associated with the operating chamber are closed.

When the valves are opened forever, the controls in the control vector of the controller must be arranged in that order because the sum of the forces generated using the valves is arranged in magnitude order. Also, during locking, the retaining force of the actuator must be sufficient. That is, the actuator must not be able to "creep " against its chamber pressure limit. This is possible by maintaining the operation chamber so that the valves of the control interface are jammed open and unlocked.

Next, fault management will be described in which the control interface or its valves are opened (on position) or closed (off position) except for the locked state where the control interface is open due to a valve failure.

We will first consider the single operating chamber of the actuator. Figure 1 shows an example of a single operating chamber 19 (A-chamber) of a digital hydraulic actuator and control interfaces 9 (HP-A), 10 (LP-A) for controlling it. When the control interface HP-A is fully opened and the control interface LP-A is controlled to be fully closed, the pressure of the HP line 3 is effective in the chamber 19. [ In a corresponding manner, if the control interface HP-A is fully closed and the control interface LP-A is controlled to be fully open, the pressure of the HP line 4 is effective in the chamber 19. [ Since the maximum processing capacity of the control interfaces is largely set in relation to the volume of the operating chamber, in the normal operating state, the pressures are changed in the manner described above, regardless of the volume change rate of the operating chamber 19.

If only one valve is available for each of the control interfaces and the valves of either control interface are jammed in the closed position, then the entire control interface is jammed in the closed position. Thus, for example, if the control interface HP-A is jammed in the fully closed position, the control interface LP-A will remain in the open position during movement of the actuator, thereby preventing excessive increase in pressure or cavitation in the actuating chamber do. As such, the controls must be blocked from the control vector of the controller, where the A-chamber is controlled to the pressure of the HP line. That is, the state of the A-chamber in the above controls is one (1). An example of a control vector is shown in FIG. 2, which refers to a single row or column. The control vector includes information on the different control combinations of the available valves as well as the order of use between the control combinations. The order of use is determined so that the sums of forces generated by the control combinations are arranged in magnitude order.

In a corresponding manner, if the control interface LP-A is jammed in the fully closed position, the control interface HP-A must be kept in the open position continuously during the movement of the actuator. As such, the controls must be blocked from the control vector of the controller, where the A-chamber is controlled to the pressure of the LP line. That is, the state of the operation chamber A in the above controls is zero (0).

When the control interface LP-A is jammed in the fully open position, the control of the control interface HP-A is closed so that the pressure of the LP line is generated in the A-chamber. Alternatively, the control interface HP-A is controlled to open, where the short circuit flow of the pressurized medium flows directly from the HP line to the LP line via the control interfaces HP-A. The pressure in the A-chamber is set about midway between the pressure in the HP line and the pressure in the LP line, which is called the intermediate pressure. In this way, the sum of the forces generated by each control combination in the control vectors is recalculated based on the effective areas and the pressures of the HP and LP lines, and at the same time, if the state of the A-chamber is one (1) It is assumed that the intermediate pressure is always valid in the A-chamber. The control vector is rearranged such that the sum of the corresponding generated forces is sorted in magnitude order.

Alternatively, if the control interface HP-A is jammed in the full-open position, control to close the control interface LP-A to control the pressure of the HP line or to open the control interface LP-A, Chamber, where the corresponding short-circuit flow occurs again. In rearranging the control vector and recalculating the sum of the generated forces, it is assumed that the intermediate pressure is always valid in the A-chamber if the state of the A-chamber is zero.

If the control interface connected to the LP circuit or the valve is jammed in the closed position, it only affects the ability of the actuating chamber connected to the control interface to achieve the pressure level of the LP circuit during motion of the actuator. In a corresponding manner, the control interface connected to the HP circuit or, if the valve is jammed in the closed position, only affects the ability of the operating chamber connected to the control interface to achieve the pressure level of the HP circuit.

Next, one or more control interfaces will consider one example having two or more valves in parallel combination, which in cooperation will process the desired total volumetric flow rate according to the processing capacity of each valve. In each valve, the pressure loss is kept as low as possible. The valves may be different or, for example, the same on / off valves. If any valve of any control interface is jammed in the closed position such that the functional valves are in the control interface, the fault in the static state of the actuator will have little effect on the component of the force generated by the actuating chamber, , And does not affect the sum of the forces generated by the actuators. The static state is a state in which the actuator does not move and the control of the actuator is kept constant in terms of time, but the control of the actuator is one of the individual controls of the actuator.

In the situation described above, the pressure of the HP or LP line is produced in the operating chamber in the intended manner. Now, the control interface where the valve was jammed in the closed position became narrower than the other control interfaces, and the processing capacity thereof was reduced in comparison with the situation before the occurrence of the defect. That is, the volume flow rate was reduced at the same pressure difference. This causes inertia to occur in the change of state of the chamber compared to the state changes of other operating chambers, and this inertia should be taken into consideration. Due to the defect, the pressure level is set more gently to the desired value, and furthermore, when the operating chamber is expanded, the pressure of the operating chamber is kept lower than the normal level of the target pressure level, The pressure of the chamber increases higher than the normal level of the target pressure level. The pressure deviation from the target pressure depends on the volume change rate of the operating chamber and the ratio of the processing capacity of the defective valve to the processing capacity of the overall control interface. As a result, the maximum velocity of the actuator must be limited such that the pressure release of the operating chamber during motion is not so high that the sum of the forces generated by the control is no longer aligned in magnitude order.

Even if the control interface connected to the LP circuit is jammed in the open position, the pressure level of the LP circuit can be obtained since it does not affect the ability of each of the operation chambers. In a corresponding manner, even if the control interface connected to the HP circuit is jammed in the open position, the pressure level of the HP circuit can be obtained since it does not affect the ability of the operating chambers.

If any of the valves of the control interface are jammed in the open position and the control interface is to be closed, it definitely affects the sum of the forces generated by the actuators and the elements of the forces produced by the actuating chambers. If, for example, one valve of the control interface HP-A is jammed in the open position, then the short-circuit flow will flow from the HP line to the LP line via the control interfaces HP-A and LO-A Lt; / RTI > In this way, the intermediate pressure remaining in the operation chamber is significantly higher than the pressure of the LP circuit. In a corresponding manner, if the operating chamber has to have the pressure of the HP circuit and one valve of the control interface LP-A is jammed in the closed position, for example, an intermediate pressure, which is significantly lower than the HP pressure, do.

In the static state of the actuator, the pressure of the operating chamber follows the equation:

Here, A _HP = sum of the processing areas of the open valves at the control interface of the HP line, A _LP = sum of the processing areas of the open valves at the control interface of the LP line.

The treatment capacity of the valve is proportional to the treatment area of the valve. In the case of a four-chamber actuator, it is calculated that the deviation of the intermediate pressure from the target pressure HP / LP is relatively small if less than 1/3 of the sum of the processing areas of the valves of the control interface is jammed in the open or closed position . In this way, the order of the magnitudes of the sums of forces generated by the actuators is not changed in a static state, in which case the order of the controls in the control vector of the controller need not be changed and, in the event of a failure, A vector can be used.

In the above description, it is very rare that several valves fail at the same time, so one valve at a time is assumed to have failed. If several valves fail at the same time, try to lock the actuator and its controlled mechanism in place if possible. It has also been assumed that the positions of the realized valves can be ascertained, for example, via sensors and it is possible to compare whether the realized position corresponds to a position according to the control value given by the controller. The position depends on the state of the valve. Based on the comparison, it is possible to determine which valve is defective and where the jam occurred. Based on this, the controller performs the necessary changes to compensate for the fault and still uses the controller to control the valves that are operationally operational.

In the following, we will illustrate the operation of the algorithm involved in failure through an example. The same principle applies in the case of actuators in which the number of chambers is not four and / or several pressure levels are available for each of the actuating chambers. In the control interface, a variable number of valves can be applied, and the relative processing capacity of the valves is variable.

In this example, the 4-chamber cylinder actuator shown above is used in the proposed digital hydraulic double-pressure system. Both of the control interfaces of each of the operation chambers have, for example, two valves with different processing capacities. Relative partitioning can be applied within the control interface, between the processing capacities of the valves, or between processing regions, for example, 1: 1 or 20: 1. Thus, there are a total of 16 valves in the control interfaces, and the state and position of the valves that control the actuators can be explicitly given in 16-bit or 16-bit binary numbers, for example HP- A, HP-B, LP-B, HP-C, LP-C, HP-D and LP-D in this order. 00 00 00 00 00 00 00 00 or 11 11 11 11 11 11 11, and all binary numbers between them.

The significance between the bits of the binary number is such that the significance thereof is proportional to the size of the operation chamber corresponding to each of the control interfaces, that is, the bits indicating the control interfaces of the operation chambers having the greatest effective area have the greatest importance It is reasonable to process it in such a way that The same applies to the valves of the same control interface, where the throughput capacity should be taken into consideration. The importance of the bits of the control interfaces of the HP and LP lines connected to the same operation chamber is a matter to be agreed upon.

If all the valves within the set response times follow the respective control values (open / close, on / off, 1/0), the actual value may correspond to the control value after a delay of the response time. Therefore, the difference between the binary value corresponding to the actual value and the control value becomes zero.

If the actual value of the control interface, that is, the valve state, deviates sufficiently from the control value, it can be said to be a failure situation. The defect valve and the type of failure (jamming in the open or closed position) is determined from the difference between the binary values corresponding to the control value and the actual value, which indicates that the importance of the bit controlling the valve is the magnitude of the difference Because it decides. In the 16-bit system, the least significant bit, the smallest valve of the control interface LP-D, produces a difference of + 1 / -1 (+/- 2 ⁰ ) depending on the type of fault in the fault situation. In a corresponding manner, the most significant bit yields the difference +/- 32768 (+/- 2 ¹⁵ ) depending on the type of failure.

Binary bits indicate the control interface sequence HP-A, LP-A, HP-B, LP-B, HP-C, LP-C, HP-D and LP- For example, +8192 (2 ¹³ ), it can be seen that the largest valve of the control interface LP-A was jammed in the open position. Looking at the exponent of the difference, since the indexing starts from zero, the thirteenth bit can be determined to be the bit of the problem. In other words, it counts from the right side and is the 14th bit of the binary number, which is a higher order bit of the control interface LP-A. In the indication of the difference, it can be judged that the valve is jammed in the open position, because the binary number of the actual value of the valves to subtract the binary number of the reference value is larger than the binary number of the reference value.

It can now be seen that the ratio of the valves of the control interface LP-A is, for example, 20: 1, and the larger valve is jammed in the open position. Further, the processing capacities of the control interface HP-A are the same as those of the control interface LP-A, for example, in the steady state, and the maximum processing capacity of the control interface HP-A can be represented by the exponent 21 (20 + 1) . Thus, when the state of the operation chamber is 0, the pressure of the LP circuit is always generated in the operation chamber, but when the state of the operation chamber is changed to 1, the operation chamber does not achieve the pressure of the HP circuit, Because there is a measured valve in the control interface LP-A.

The intermediate pressure in the static state of the actuator is calculated from the presented equation, where the ratio A _HP / A _LP corresponds to the ratio 21/20. Using the intermediate pressure, it is possible to calculate the sum of the forces to be generated for all force components and the fault situation in which the valve is measured in the open position.

Table 1 shows the states of the actuating chambers of the actuators and the magnitude of the sum of forces (No_err) in the absence of system failure. It can be seen that, in the static state, the summations of forces are no longer sorted in order of magnitude, and therefore the controls dec (0 ... 15) ) Must be rearranged as shown in Table 2 so that the sums of forces are sorted in magnitude order so that they can be used by the controller.

Binary control of chambers u% dec
(0 ... 15) A B C D No_err LP-A open 0 5 0 One 0 One -38,46 -38,45859 One 4 0 One 0 0 -30,13 -30,12709 2 7 0 One One One -22,12 -22,12231 3 6 0 One One 0 -13.79 -13,79081 4 One 0 0 0 One -5,21 -5,214,258 5 0 0 0 0 0 3.12 3,117245 6 3 0 0 One One 11,12 11,12202 7 2 0 0 One 0 19,45 19,45353 8 13 One One 0 One 27,31 -3,97368 9 12 One One 0 0 35,64 4,357824 10 15 One One One One 43,64 12,36260 11 14 One One One 0 51,97 20,69411 12 9 One 0 0 One 60,55 29,27065 13 8 One 0 0 0 68,88 37,60216 14 11 One 0 One One 76,89 45,60694 15 10 One 0 One 0 85.22 53,93844

Binary control of chambers u% dec
(0 ... 15) A B C D No_err LP-A open 0 5 0 One 0 One -38,46 -38,45859 One 4 0 One 0 0 -30,13 -30,12709 2 7 0 One One One -22,12 -22,12231 3 6 0 One One 0 -13.79 -13,79081 4 One 0 0 0 One -5,21 -5,214,258 5 13 One One 0 One 27,31 -3,97368 6 0 0 0 0 0 3.12 3,117245 7 12 One One 0 0 35,64 4,357824 8 3 0 0 One One 11,12 11,12202 9 15 One One One One 43,64 12,36260 10 2 0 0 One 0 19,45 19,45353 11 14 One One One 0 51,97 20,69411 12 9 One 0 0 One 60,55 29,27065 13 8 One 0 0 0 68,88 37,60216 14 11 One 0 One One 76,89 45,60694 15 10 One 0 One 0 85.22 53,93844

The algorithm presented above can be applied when several charging circuits with different pressure levels are combined into a single operation chamber. In this way, in particular, when the valve defects have a significant influence on the sum of the forces generated by the actuator by means of the control, the controls are blocked, and in the blocking state, due to the defective valves, It does not match the states.

Digital Hydraulic Actuator Application

Now, the use of a digital hydraulic actuator in a digital hydraulic system will be described. Actuators are especially digital cylinders and can be applied to a variety of pumps, motors, energy charging, pressure converters, energy converters, rotary drives and rotary drives.

The example of Fig. 1 has the digital cylinder whose operation is described above. The example of Fig. 9 of the swivel drive has a swivel device to which the proposed system is applied, which converts the linear motion into rotational motion. In the structure and components of the pivoting device, corresponding members of known pivoting devices can be used. The example of FIG. 10 for a rotary drive has a digital hydraulic pump motor, to which several cylinder actuators are applied and can be applied as a pump in a digital hydraulic motor and a digital hydraulic system. The example of FIG. 11 includes a digital hydraulic converter 112 (DPCU), to which several digital cylinders are applied, and other examples are shown in FIGS. 15 and 16. FIG. The example of FIG. 12 includes a digital hydraulic pump pressure converter 122 (DPCPU), to which several digital cylinders are applied, which are connected to a source of external energy by a moving part 123, Examples are shown in Figures 14 and 17. 14 and 17

Digital hydraulic swing device

In the example of Fig. 9, the swivel device 41 has, for example, gear racks 45, 46 for rotating the swivel gear wheel 47. In Fig. The swivel device is mounted, for example, on a frame of a movable work machine, and the swivel gear wheel is used to rotate the cabin or crane of the working machine. Generally, the pivoting device has means for converting linear motion into rotational motion. Linear motion is performed using a cylinder, and rotational motion is performed using a rotary shaft.

The moment-adjusted pivoting device is generally implemented using two parallel-connected actuators 42, 43, and the respective gear racks 45, 46 are provided with respective actuators 42, 43 so that the piston rods of the actuators point in the same direction. Where one actuator becomes longer and the other becomes shorter. The gear racks are mounted parallel to the sides of the actuators to drive the revolving gear wheels 47 on both sides. In this case, the frames of the actuator are moved and the piston rod is mounted on the pivot device so as not to move, for example, mounted on the frame of the working machine. The maximum sum of the forces of the actuators generated by the actuators on the revolving gear wheel 47 is in this case the sum of the maximum total traction force of one actuator and the maximum total traction force of the other actuators. In this way, the total moment Mtot of the revolving device in each rotation direction is maximized, and is formed as the sum of the maximum sum of the forces of the respective actuators and the calculated product of the radius R of the revolving gear wheel 47. [

The swivel device 41 is controlled by a control circuit, wherein a control interface is provided for each of the operation chambers of the actuator of the swivel, and by means of this control interface, the operation chamber is connected to either low pressure LP or high pressure HP . The control circuit corresponds in function to the control circuit 40 of FIG. 1 and performs the necessary connections for the pressure medium.

The number of states of the swivel device depends on the structure of the actuators 45, 46. There are several alternatives to controlling the actuators. In the case of several actuators, the number of states of the pivoting device 41 is formed by a power function a ^b , where the base number a is the number of states of the controls of the actuator, for example a = 2 ⁿ , , And exponent b is the number of actuators. For two actuators with two actuating chambers, the number of each state is 16, and for two actuators with four actuating chambers, the number of states is 256. Each state corresponds to a moment value Mtot. Each actuator is controlled by a control circuit according to Fig. If the actuators 45 and 46 have the same or the same effective chambers as the actuating chambers, then the number of different states is smaller due to redundant states, and the same total moment Mtot is obtained in more than one state . In the example of Fig. 9, the actuators are the same, and each actuator has four operation chambers in the same manner as the actuator 23 of Fig. 1, and each actuator produces 16 different forces using even grading . In this way, the total number of states is 31, except for redundant states. Since the state of producing zero moments is common to the two actuators, the number of states is one less than the total number of states of the two actuators. The pivoting device produces a zero moment when the sum of forces of the actuators is overwhelmed with each other, and at least one state to produce a 15-step moment adjustment in one direction of rotation and a 15-step moment adjustment in the opposite direction of rotation . The effective areas of the actuating chambers of the actuators are preferably encoded with a binary weighting factor to provide evenly rated moment control. Further, the cylinders are preferably the same.

The states selected for producing the zero moment may be any state of the actuators, for example, states of positive or negative extreme forces, or any state therebetween, e.g., from the middle region. If the magnitudes of the actuators are the same, the pivoting device generates a zero moment for each case where the controls of the actuators are equal to each other. In other words, the initial tension created by the zero control can be generated in any state of the actuator (for actuators with four chambers, by force levels 0 to 15). Thus, For example, when the moment adjustment is in one direction of rotation, one actuator operates in a saturated range and the other in a manner operating in a linear range, In the other way, in a corresponding manner, see the methods 1 and 2 in Table 3)

Choice 1 Choice 2 Choice 3 Select 4, etc. System control Cyl1
Control Cyl2
Control Cyl1
Control Cyl2
Control Cyl1
Control Cyl2
Control Cyl1
Control Cyl2
Control u% u1% u2% u1% u2% u1% u2% u1% u2% 0 0 15 0 15 0 15 0 15 One 0 14 One 15 0 14 One 15 2 0 13 2 15 One 14 2 15 3 0 12 3 15 One 13 2 14 4 0 11 4 15 2 13 2 13 5 0 10 5 15 2 12 2 12 6 0 9 6 15 3 12 3 12 7 0 8 7 15 3 11 4 12 8 0 7 8 15 4 11 5 12 9 0 6 9 15 4 10 5 11 10 0 5 10 15 5 10 5 10 11 0 4 11 15 5 9 5 9 12 0 3 12 15 6 9 6 9 13 0 2 13 15 6 8 7 9 14 0 One 14 15 7 8 8 9 15 0 0 15 15 7 7 8 8 16 One 0 15 14 8 7 8 7 17 2 0 15 13 8 6 8 6 18 3 0 15 12 9 6 9 6 19 4 0 15 11 9 5 10 6 20 5 0 15 10 10 5 11 6 21 6 0 15 9 10 4 11 5 22 7 0 15 8 11 4 11 4 23 8 0 15 7 11 3 11 3 24 9 0 15 6 12 3 12 3 25 10 0 15 5 12 2 13 3 26 11 0 15 4 13 2 14 3 27 12 0 15 3 13 One 14 2 28 13 0 15 2 14 One 14 One 29 14 0 15 One 14 0 14 0 30 15 0 15 0 15 0 15 0

If the states creating the zero moment are selected from a midrange of states of the actuator, then the moment steps can be created by alternating the states of the actuators in an alternating manner, and both actuators operate in a linear range within the entire moment range (See method 3 in Table 3). Operating in the linear range of the actuators means that the unsaturated individual values of the actuators do not exceed the maximum of the respective individual control values (u%) within the indexing range of the states of the actuators. State changes are performed through two or three steps (see method 4 in Table 3), or using another permutation algorithm. See Table 3 for examples of this.

For the control of the swing device, the controller 24 shown in Fig. 5, 6 or 7 can be used. Wherein the control converter 32 is extended in a manner that is used to control a sufficient number of control interfaces to determine the states of the actuators. The table shown in FIG. 2 shows that the number of exponents corresponds to various control values, the values of the columns are added to represent different states of the system, the binary number representing the binary states of the chambers increases (i.e., The number of binary numbers representing the binary control increases with the number of actuators) and the columns representing the binary states of the control interfaces are expanded in an increasing manner due to the increase in control interfaces. In addition, a set value 31 proportional to the moment to be generated and the rotational direction of the swing device can be used. Since the moment to be generated is directly proportional to the sum of the forces generated by the actuator (the coefficient is the radius R of the revolving wheel 47), the control value of the effective force 31), which will be processed as presented in connection with FIG. As indicated above, the accelerated system may be speed controlled.

The controller of the pivoting device is implemented by two parallel controllers shown in Figures 5, 6 or 7, wherein each controller controls a single actuator 42, 43. This is possible because the effect of the force generated by the actuators 45, 56 is also separated. The relative control value 31 for the effective force (acceleration), the control value 28 for the speed, or the control value 26 for the position corresponds to the desired acceleration for the control valves of the respective actuators, Lt; / RTI > can be input to both converters to calculate the positions to be calculated.

As described above, the energy is consumed in connection with the state change. A feature of the control of the actuators is that they are controlled between the control value corresponding to the acceleration zero point and the control values closest to the point in each plane in which most state changes occur. Since the initial tension of the cylinder actuators is freely selectable in the present system of the pivoting device, the control value for the zero moment can be selected in the state table of the system, from which the closest state change in both directions It consumes less. These controls include, for example, control values 10 and 5 for an actuator with four chambers. In the system of the swivel device, the proposed line compression and line expansion can be applied through delays, in particular controlled by the controller.

Digital Hydraulic Pump Motor and Rotating Device

Next, a digital hydraulic pump motor that can be applied both as a digital hydraulic pump and as a motor in a digital hydraulic system will be described. The system described above can also be applied to pump motors.

In the example of Fig. 10, the digital hydraulic pump motor 49 has, for example, four actuator fans 50, 51, 52 and 53, which are cylinders and are rotatable And the actuators are connected to this diverter member at a distance from the axis of rotation where the actuator combination can generate a total moment Mtot effective on the rotary member 54 (or the wobbler 54) . Preferably, all of the actuators have a common connection point 55. The apparatus 49 is mounted on a frame of a movable work machine, for example, in the use of a swing motor, and is used for rotating a cabin or a crane of a work machine. In a corresponding manner, in use of the pump, the rotary member is connected to, for example, a drive shaft. In general, the device is applied to pumps, motors or pump motor rotary drives, wherein the rotary member 54 converts linear motion into rotary motion.

By connecting the two force-controlled actuators to the rotary member 54 eccentrically with a phase shift of 90 degrees, it is possible in the simplest way to obtain a pump motor drive with a continuous rotation path. In particular, the actuators described above and shown in Figure 1 are used as actuators. However, since the actuator is asymmetric with respect to its maximum force, i.e. the maximum force is stronger in the direction of positive (propulsion) than in the direction of negative (traction), the maximum total moment Mtot becomes relatively asymmetric. That is, the maximum moment obtained in one direction of rotation is different from the maximum moment obtained in the other direction of rotation. For this reason, it is reasonable to connect at least three cylinder actuators to the rotary member 54 eccentrically with a phase shift of 120 degrees to make the maximum total moment more symmetrical. Further, as shown in Fig. 10, by coupling the four cylinders to the rotary member 54 with a phase shift of 90 degrees, a more symmetrical maximum moment is generated in both directions.

In the system including the digital pump motor 49 and the controller, the energy saving optimization of the initial tension is performed by applying the same principle as the above described pivoting device with reference to Fig.

The connection points of the actuators are the connection points 56, 57, 58, 59 (J1, J2, J3, J4, respectively) through which the actuators are connected to the frame 60 of the device. As shown in the figure, each actuator is connected (30) between a common eccentric concatenated effective point P (connection point 55) and the aforesaid concatenated connection points regularly arranged with respect to the circle, . The distances between the connection points and the center of rotation O (rotation axis X) are identical to each other, and the phase shift angles seen across the circle are also equal to each other. In one example, the four cylinder actuators are used with a phase shift angle of 90 degrees.

The radius vector of the wobbler refers to the vector R connected from the center O of rotation of the wobbler to the common eccentric connection point P of the actuators. The effective lever vectors r ₁ , r ₂ , r ₃ , r ₄ (vectors r _n ) of the actuators refer to the shortest vector connecting from the rotation center 5 of the wobbler to the straight line of the effective force of the actuator, Is perpendicular to the straight line of the effective force generated by the actuator. In Fig. 10, the actuators 50, 52 are at the bottom and top of the stroke, whereby their effective lever vectors are zero vectors.

When the propulsive force or positive force generated by the actuator creates a positive moment (counterclockwise) in the wobbler, the effective lever vector of the actuator is of positive length. Thus, when viewed from the connection point of the actuator, the connection point P is located at the right half of the rotation circle. In a corresponding manner, when the positive (propelling) force generated by the corresponding actuator produces a negative moment in the wobbler (clockwise direction), the length of the effective lever vector is negative. Thus, when viewed from the connection point of the actuator, the connection point P is located in the left half of the rotation circle. In this specification, the effective lever of the actuator refers to the length of the effective lever vector. Actuators 50, 51, 52, 53 generate vectors F ₁ , F ₂ , F ₃ , F ₄ , respectively, of a single force. The direction of the vectors of force is parallel to the connected line segment from the connecting point of each actuator of the wobbler's effective point P such that the direction of the effective force is the propulsion direction or the traction direction, i.e., positive or negative. The force result vector F _tot refers to the vector of the sum of the vectors of forces generated by a single actuator.

The relative effective lever of the actuator refers to the ratio between the length of the effective lever vector and the maximum value of the length of the effective lever vector. Therefore, the following equation applies to the relative effective lever of each actuator.

When the lever is at its maximum length in the positive or negative direction, the value of the variable is zero whenever the actuator is located at the dead center and receives a value of +1 or -1. The maximum length of the lever occurs at points where the straight line of action of the actuator's force touches the tangent of the source of rotation of the effective point P of the wobbler.

Next, the control system of the digital pump motor and its operation principle will be described.

The relative control of each of the single actuators is created by multiplying the relative control of the moment of the swivel drive with the length of the relative effective lever of the actuator. In any case, the goal is to create a positive moment. In other words, the direction of the moment is counterclockwise. When the two actuators 50, 52 facing each other are at the dead point, the other two actuators 51, 53 are arranged symmetrically due to the mutual mirror image of the wobbler's radius vector R. In this way, the effective levers r ₁ , r ₃ of the actuators 50, 52 are reflected with respect to the radius vector R. That is, the lengths are the same but have opposite signs, where the vectors of force F _1, F ₃ are adjusted to the same length relative to each other and symmetrically arranged for the vertical line segment connected via point P. In this way, the resulting force vector F _tot is vertical, i. _E. , Perpendicular to the radius vector R of the wobbler. In the points of the actuators 51 and 53, the vectors of the forces of the actuators are zero vectors, since the effective levers r _{2 and} r ₄ are zero vectors, and the vectors of forces are adjusted accordingly.

In the middle between the dead spots, the actuators 50, 53 are arranged symmetrically with respect to the radius vector R as well as the actuators 51, 52. In this way, the effective levers r ₂ , r ₃ are also reflected not only for the lever vectors r ₁ , r ₄ but also for the radius vector R. In this way, the sum vector of the forces F ₂ j and F ₃ becomes the sum of the forces F ₁ and F ₄ . Of the wobbler 35 as well as the tangent of the rotation source of the effective point of the wobbler 35. In this way, the total result vector is also parallel to the tangent of the source of rotation of point P, i. E., Perpendicular to the radius vector of the wobbler.

It can be seen that the force result vector F _tot is orthogonal to the radius vector R of the wobbler with the other rotation values. From this it can be concluded from this adjustment method that the force result vector F _tot is always nearly perpendicular to the radius vector R as long as the actuators operate in the linear range.

The digital hydraulic pump motor is used as a controlled motor drive to return kinetic energy coupled to the mechanism to the hydraulic system, not only in conventional hydraulic systems but also in digital hydraulic systems, moments or, if necessary.

The digital hydraulic pump motor can be used as a pQ controlled hydraulic pump (p = pressure, Q = volumetric flow rate) if necessary. Thus, the moment generated by the cylinders is a moment induced on the mechanism from the outside, and is set in the opposite direction. The effective areas of the cylinders can be used to control pressure, volumetric flow rate, drive moment, and power control. In pump applications, the volumetric flow rate and the maximum pressure produced by the device are proportional to the effective surface, and the driving moment is also proportionate accordingly. In this way, for example, the operating range of the combustion engine driving the pump can be optimized to achieve the best possible efficiency.

In a digital hydraulic system, if the pump motor is used as a hydraulic motor, the pump motor must be connected to the tank via separate control interfaces. Figures 13a and 13b illustrate the connection of a digital pump motor to the system of Figure 11, for example. The connection is made to the charging circuits or subcircuits.

The energy saving optimization of the initial tension is performed in the same manner as in the above-described pivoting device. When controlling the digital pump motor, the control combination of the actuators for generating the zero moment is selected by a control value at which the sum of the moments calculated for each actuator can be zero. In this way, the control range of each actuator, in which the actuator performs the largest number of state changes, can be selected in a desired manner. Controlling the four actuators in the digital pump is performed by directly converting the relative control of moments into the control of the actuators, in various ways, in such a way that the sign of control is changed at the top and bottom of the stroke of the actuator. In this way, care is taken to ensure that relative control of the amount of moment produces force with a single actuator and produces positive moment by mechanism. The four actuators are controlled in such a manner that the relative control of the moment is adjusted by the control of the actuator in proportion to the effective relative lever of the actuator. Further, the variable for adjusting the control of the single actuator may be another variable calculated on the basis of the rotation, and using this variable, the sum vector of the forces generated by the cylinders is perpendicular to the radius vector of the wobbler The goal is to keep it.

Digital Hydraulic Converters and Pump Pressure Converters

Fig. 11 shows a digital hydraulic converter 112. Fig. A simple implementation of a pressure converter is shown in Fig. 15, wherein the pressure converter has two double acting and dual chamber cylinder actuators connected in reverse to each other, wherein the piston rods are interconnected. The connected piston rods constitute a moving portion. Preferably, the outer covers of the cylinder actuators are also interconnected. The ratio of the effective areas of the operating chambers is selected as follows. A1: B1: A2: B2 = 2: 1: 2: 1. The pressure converter of FIG. 16 has two double acting and dual chamber cylinder actuators, wherein the ratio of the effective areas of the actuating chambers is selected as follows. A1: B1: C1: D1 = A2: B2: C2: D2 = 8: 4: 2: 1. According to the example of Fig. 14, the cylinder actuators are different, wherein the ratio of the effective areas of the operation chambers is selected as follows. A1: B1: A2: B2 = 8: 4: 2: 1. Each cylinder actuator of the pressure converter is composed of a single or multi-chamber unit, and the moving parts are interconnected mechanically in a parallel or nested manner, so that the desired effective areas and their mutual ratios are realized. Preferably, the steps of generated force are the same size.

The manner in which the pressure converter is operated is determined by using a first actuator to select the sum of the appropriate forces within the pressure range of the charging circuits coupled to the actuator and using the sum of the forces to switch between the charging circuits coupled to the second actuator Of the required energy transfer is enabled in a way that allows less energy loss. The first actuator applies the sum of the forces to the moving part of the actuator and the second actuator moves the piston by generating a force of slightly different magnitude in the moving part of the actuator in the opposite direction. When the moving part of the actuator approaches the end of the actuator, the coupling of the charging circuits is exchanged with another coupling so that the direction of movement is changed but the conversion ratio between the charging circuits is maintained. In the example of Fig. 16, the charging circuit HP1 is coupled in place of the charging circuit HP1a, and the charging circuit LP1 is coupled in place of the charging circuit LP1a. The exchange is performed by a separate control interface and its control valve or valves. In Fig. 15, reference numeral P1 corresponds to the HP1 circuit, P2 to the HP2 circuit, P1a to the HP1a circuit, and P2a to the HP2a circuit.

Next, an example of the control situation will be described, in which the pressure converter performs a conversion to make the pressure five-fold. It is assumed that the pressure converter applies the two proposed cylinder actuators with the four cylinders inversely coupled to each other. The pressure of the LP1 circuit coupled to the first actuator is about 0 MPa and the pressure of the HP1 circuit is assumed to be about 10 MPa. The pressure of the LP1a circuit coupled to the second actuator is about 0 MPa and the pressure of the HP1a circuit is slightly below about 50 MPa. As shown below, energy can be transferred from the charging circuits to the HP1a circuit in a low pressure environment. The piston movement for extending the first actuator is created by combining the control such that the first actuator is u% = 15 and the second actuator is u% = 7, wherein the two highest pressure Lt; RTI ID = 0.0 > 5: 1 < / RTI > In a corresponding manner, the opposite piston motion is created by combining a control such that the first actuator is u% = 0 and a control that the second actuator is u% = 4, The ratio becomes -5 / -1 (= 5/1). In a corresponding manner, the pressure conversion is performed in both directions of movement, with a conversion ratio made by the actuator, which corresponds to a range of 1: 5 to 5: 1.

The higher conversion ratio can be achieved in a non-continuous manner, i.e., when moving in only one of the two directions. The maximum conversion ratio that can be achieved in both directions of motion is determined by the ratio of the difference between the sum of the effective regions that shorten the actuator and the smallest effective region that shortens the actuator, in this case (4 + 1) / 1 = 5/1.

The production ranges of the forces of the actuators are at least partially equal, so that the sum of the forces acting on the moving part is kept small enough to avoid throttling of the pressure medium and energy is not consumed unnecessarily.

Some of the charging circuits, such as HP1 and LP1, are always solely coupled to the first actuator of the pressure converter and some other charging circuits, e.g., HP1a and LP1a, are solely connected to the second actuator of the pressure converter It is possible to perform an energy efficient conversion within the production range of forces applied to the actuators, assuming that they are coupled, wherein the forces of the actuators are roughly mutually compensable.

It is feasible with a coupling that allows only the forces expanding the actuator to be used in the pressure converter, if it is desired that the pressure converter can make a large range of symmetrical conversions in both directions of movement. Are used to exchange the charging circuits connected to each other. In the example shown in Figs. 17 and 18, this means that the charging circuit HP1 is coupled in place of the charging circuit HP1a and the charging circuit LP1 is coupled in place of the charging circuit LP1a. In a corresponding manner, the charging circuit HP1a is coupled in place of the charging circuit HP1, and the charging circuit LP1a is coupled in place of the charging circuit LP1. The exchange may be accomplished by a separate control valve or valve system, for example a two-position four-way valve according to the control circuit 125 of FIG. 18, or an alternate on / off valve according to the control circuit 126 of FIG. Connection. Through the exchange, the conversion ratio of the pressure converter is maintained regardless of the moving direction of the moving part. Therefore, it is not necessary to cut off the production ranges of the forces of the actuators to perform an energy efficient pressure conversion.

Further, through coupling, an additional conversion ratio of the pressure converter and a coupling combination of the charging circuits can be obtained, wherein the coupling possibility, i.e., a separate control interface, is provided between each of the chambers and each of the charging circuits do. With this control circuit, any pressure medium provided in the system can be coupled to any of the actuating chambers of any actuator, wherein a single conversion ratio (1; 1) from one pressure circuit to another pressure circuit And from two or more pressure circuits to one or more other pressure circuits or from one or more pressure circuits to two or more different pressure circuits or from two or more pressure circuits to two or more different pressure circuits Energy can be delivered using a number of different alternative conversion rates.

By coupling the pressure converter to an external source of energy, external mechanical energy in the form of hydraulic energy can be delivered to the charging circuits. For example, the kinetic energy is effective in the moving part, either directly or through the part connected to the moving part, and preferably produces a reciprocating pumping motion, which uses the piston of the cylinder actuator to control the pressure of the pressing medium in the operating chamber . The hydraulic energy is then stored in an energy storage unit, used in other ways, or used in other actuators.

The present invention is not limited to the examples presented above, but is applied within the scope of the appended claims.

Claims (45)

At least one actuator (23) or actuator unit capable of producing a sum (Fcyl) of forces effective to the load;
At least two actuating chambers which are actuated by displacement principle and which are located in said actuator or actuator unit,
At least one charging circuit (HPi, HPia) of high pressure, which is a source of oil pressure, capable of producing and receiving a volumetric flow rate at a predetermined pressure level;
At least one charging circuit (LPi, LPia) of low pressure, which is a source of oil pressure, capable of producing and receiving a volumetric flow rate at a predetermined pressure level;
At least two predetermined operating chambers (19, 20, 21, 22) belonging to said operating chamber;
At least one of the high-pressure charging circuits HPi and HPia and at least one of the low-pressure charging circuits LPi and LPia is coupled to each of the predetermined operation chambers 19, 20, 21 and 22 And,
A first controllable control interface (9) for each of the predetermined operating chambers, capable of opening or closing a connection to the high-pressure charging circuits (HPi, HPia); And
A second controllable control interface (10) for each of the predetermined operating chambers, which is independent of the first controllable control interface (9) and which is capable of opening or closing a connection to the low pressure charging circuits (HPi, HPia) );
Each of the predetermined operation chambers 19, 20, 21 and 22 is provided with elements of force corresponding to a predetermined pressure level of the charging circuits HPi, HPia, LPi, LPia to be coupled to the predetermined operation chamber FA, FB, FC, FD)
Wherein the elements of each force produce at least one of the forces of the forces in association with the elements of force generated by the other predetermined actuating chambers. 2. A method according to claim 1, characterized in that at least two of the charging circuits (HPi, HPia, LPi, LPia) are capable of receiving a volumetric flow rate from a given operating chamber to which the charging circuit is coupled to produce an element of force system. 3. A method as claimed in claim 1 or 2, wherein the actuator or actuator unit is configured to control the load (L) using a variable sum of the forces, and for the control, and at each moment, Is selected for use in each of the predetermined operation chambers. The method according to claim 1,
The first controllable control interface (9) and the second controllable control interface (10) comprise one shut-off valve each on / off controlled or a plurality of shut-off valves connected in parallel The system features. The system according to claim 1, wherein the control circuit (40) comprises a series of control interfaces configured to supply the oil pressures of the charging circuits to the predetermined operating chambers substantially without losses. 2. The system according to claim 1, wherein the control circuit (40) couples one of the charging circuits to one of the predetermined operating chambers for the supply of the hydraulic pressure, and simultaneously connects another charging circuit And to couple the other one to return the volumetric flow rate to the other charging circuit. 2. The method of claim 1, wherein the actuator or actuator unit is configured as an energy charging unit, the oil pressure of any of the charging circuits being convertible to a potential energy to be stored, Circuit can be converted to the oil pressure of the circuit. 3. A system according to claim 1 or 2, characterized in that each charging circuit comprises an accumulator (17, 18). The system of claim 1,
At least one pump unit (111) using a pressurized medium to produce hydraulic pressure; And
The pump unit may be coupled to one or more of the charging circuits simultaneously to provide fluid pressure to one or more charging circuits, receive a pressurized medium from one or more charging circuits, or perform both of these operations simultaneously And a control and safety valve system (124). 10. The method of claim 9,
The pump unit 111 has a suction line 119 and a pressure line 118;
The control and safety valve system 124 is configured to couple the pressure line 118 to one of the charging circuits and to maintain the pressure level of the charging circuit coupled to the pressure line 118 at a predetermined pressure level ;
The control and safety valve system is further configured to couple the suction line 119 to one of the charging circuits to lower the pressure level of the charging circuit coupled to the suction line 119 and to maintain it at a predetermined pressure level The system features. 2. The method of claim 1, wherein ratios of effective regions of the working chambers are determined according to a sequence N ^M , wherein N is the number of the charging circuits, M is the number of operating chambers, and N and M are integers Lt; / RTI > The method according to claim 1,
The pressure level of at least one of the charging circuits of at least one of the high-pressure charging circuits and the charging circuit of at least one of the charging circuits of low pressure is adjustable and the relative difference between the sums of the generated forces is also adjustable, Characterized in that the pressure levels of the charging circuits correspond to the sum of the forces required to control the load (L). 2. The apparatus of claim 1, wherein the actuator or actuator unit is configured to accelerate the load using sums of one or more forces and to slow the load using sums of one or more forces for control of the load system. 14. The apparatus according to claim 13, characterized in that, during deceleration of the load, at least one of said predetermined operating chambers is adapted to convert the kinetic energy of the load into hydraulic pressure and supply the converted hydraulic pressure to one of said charging circuits system. 2. The system according to claim 1, wherein the actuator or actuator unit is configured as part of a pressure transducer (112), which is capable of converting the oil pressure of the charging circuit to the oil pressure of another charging circuit. The method according to claim 1,
A pressure transducer (112) capable of transferring fluid pressure from at least one charging circuit to at least one other charging circuit,
At least one high-pressure sub-charging circuit HPia;
At least one low-pressure sub-charging circuit (LPi, LPia) which is a source of hydraulic pressure;
At least one auxiliary actuator or auxiliary actuator unit constituting the load;
At least one auxiliary working chamber operated by displacement principle and located in said auxiliary actuator or auxiliary actuator unit;
The sub-charging circuits HP1a and LP1a can be coupled to each of the operating chambers, and each auxiliary operating chamber can be generated by the sub-charging circuits HP1a and LP1a combined with pressure and volumetric flow rates, Wherein the actuator or actuator unit comprises a control circuit (40) configured to move the auxiliary actuator or auxiliary actuator unit for fluid pressure communication. The actuator according to claim 16, wherein the actuator (23) has a first moving part, the auxiliary actuator has a second moving part, and the moving parts are connected to each other to transfer the movement between the actuator and the auxiliary actuator . 18. The system according to claim 16 or 17, characterized in that at least three charging circuits, each with a predetermined pressure level different from each other, are in turn coupled to each of the predetermined working chambers and the respective auxiliary working chambers. 17. The apparatus of claim 16, wherein the apparatus further comprises at least one (HPi) of the high-pressure charging circuits coupled to an auxiliary actuator instead of an actuator (23) and at least one of the low- (LPi) of the low-pressure charging circuits is coupled with an auxiliary actuator instead of the actuator 23, and at the same time, among the high-pressure sub-charging circuits (125, 126) for coupling at least one (HPia) with the actuator instead of an auxiliary actuator, wherein a reciprocating motion is generated in the pressure converter such that the pressure and the volumetric flow rate are generated without interruption ≪ / RTI > 18. A method according to any one of claims 16 to 17, wherein the moving parts of the actuator (23) and the auxiliary actuator are arranged to move the moving parts and to move the movable part And a source coupled to the source. 17. The apparatus of claim 16, wherein the apparatus comprises a control circuit (126) for coupling any of the charging circuits to any one of the predetermined operational chambers, To one or more other charging circuits, or from one or more charging circuits to two or more other charging circuits, or from two or more charging circuits to two or more other charging circuits. The system of claim 1,
A control circuit 40 for controlling the sum of the forces generated by the actuator or actuator unit and for controlling the control circuit 40 to determine a reference value 31 for the sum of forces to be generated, an acceleration of the load, At least one controller (24) having an input as an input;
Characterized in that the controller is further configured to control the coupling made by the control circuit (40) at every moment so that the forces of the generated force produce a sum of forces which are in close or closely related relation to the reference value (31) system. 23. The method of claim 22, wherein states of the control circuit (40) are stored in the controller, each state representing coupling of the control circuit to produce a sum of one force, And the output of the controller is configured to set the control circuit in a state corresponding to the reference value (31) in each load condition, and to set the state of the control circuit in a corresponding order in proportion to the staggered order of the control circuit (37, 39) being given to the control circuit in order to provide a control signal. 24. The system according to claim 23, wherein the control circuit (40) comprises at least one controllable control interface (9) capable of opening or closing the connection of the high pressure to any of the charging circuits (HPi, HPia, LPi, LPia) , Such states of the control circuit are not selected for use in the controller, whereby the effect on the sum of the forces to be generated of the fault control interface is large. 24. The system according to claim 23, wherein the control circuit (40) comprises at least one controllable control interface (9) capable of opening or closing the connection of the high pressure to any of the charging circuits (HPi, HPia, LPi, LPia) , As a result of a failure of the control interface, the controller is configured to set the states of the control circuit in a new order proportionally corresponding to a gradual sequence of forces sums to be generated in the context, wherein the failure control interface is still in use . 26. The system of claim 24 or 25, wherein the controller is further configured to monitor the status of the control interface, to check whether the status of the control interface conforms to the status according to the control value, ≪ / RTI > 26. A method according to any one of claims 1 to 24, wherein the states of the operating chamber are stored in a controller, each state representing a coupling of predetermined operating chambers to produce a sum of one force, And the corresponding control values are adjusted in a corresponding order proportional to a gradual sequence of sums of forces to be generated. 23. The system of claim 22, wherein the system is a source of hydraulic pressure capable of producing and receiving a volumetric flow rate at a predetermined pressure level and having a pressure level at least between an intermediate pressure (MPi, MPia) Further comprising one charging circuit; To minimize energy loss, the controller is configured to couple a predetermined operating chamber to an intermediate-pressure charging circuit without throttling;
Wherein the engagement of the predetermined operation chamber with the intermediate pressure is performed before the pressure of the predetermined operation chamber is switched to the high pressure when the pressure in the predetermined operation chamber is low and when the pressure in the predetermined operation chamber is high, Before the final combining of the operating chambers with the high-pressure or low-pressure charging circuits HPi, LPi. The actuator according to claim 1, wherein the actuator is an actuator (45) of a pivoting device (41) for controlling pivotal movement of a load (L) coupled to the pivoting device (41), the at least two actuators ), Which generate a variable total moment (Mtot) effective for the load, and wherein the pivoting device further comprises members (47) for converting the linear motion produced by the actuators into a pivotal motion of the load System. 2. The apparatus according to claim 1, wherein the actuator is an actuator (50, 51, 52, 53) of a pump motor and is force-controlled or force-controlled implemented by a throttling- Is generated on a drive shaft coupled to an external energy source, such as a drive motor, said actuator acting as a pump in conjunction with other actuators coupled to the same wobbler. The system of claim 1, wherein the actuator is an actuator (50, 51, 52, 53) of a rotator that controls movement to rotate a load coupled to the rotator, the system comprising at least two actuators Characterized in that the rotating device further comprises members (54, 55) for converting the linear motion produced by the actuators into a motion for rotating the load. At least two actuators (45, 46) or actuator units for generating a sum of forces effective in the load (L) to control the pivotal movement of the load (L);
At least two working chambers operating by displacement principle and located in the actuators or actuator units;
(45, 46, 47) for converting the motions produced by the actuators or actuator units into a pivoting movement of the load and for converting the sums of the generated forces into a total moment (Mtot) effective for the load ,
At least one charging circuit (HPi, HPia) of high pressure, which is a source of oil pressure, capable of producing and receiving a volumetric flow rate at a predetermined pressure level;
At least one charging circuit (LPi, LPia) of low pressure, which is a source of oil pressure, capable of producing and receiving a volumetric flow rate at a predetermined pressure level;
At least two operation chambers belonging to the operation chambers;
At least one of the high-pressure charging circuits HPi and HPia and at least one of the low-pressure charging circuits LPi and LPia may be sequentially connected to each of the predetermined operation chambers, It is possible to generate elements of force corresponding to a predetermined pressure level of the charging circuits HPi, HPia, LPi, LPia to be coupled to a given operation chamber,
Wherein each element of force further comprises a control circuit (40) that produces at least one of said forces in association with forces of force produced by the other actuating chambers A pivoting device for controlling pivoting motion. 33. The apparatus of claim 32, wherein the pivoting device comprises at least four predetermined actuating chambers belonging to the actuating chambers, the ratios of effective regions of the at least four predetermined actuating chambers being determined according to the sequence N ^M , Wherein N is the number of said charging circuits, M is the number of said predetermined operating chambers, and N and M are integers. 34. A method as claimed in claim 32 or 33, wherein the actuators or actuator units are parallel cylinder actuators arranged in the same direction to produce a sum of forces in opposite directions, Wherein the actuators or actuator units are located on the opposite side of the orbiting gear wheel to the total moment (Mtot). 34. A control system as claimed in claim 32, wherein the pivoting device is adapted to control the force of the pivoting device and is configured to control the control circuitry (40) and has at least one And a controller (24) Characterized in that the controller is further configured to control the coupling made by the control circuit (40) at every moment so that the elements of the generated force produce a sum of forces that are in close or closely related relation to the reference value (31) Lt; / RTI > At least two actuators (50, 51, 52, 53) or actuator units which generate effective total moments (Mtot) in the load (L) to control pivotal movement of the load (L);
At least two working chambers operating by displacement principle and located in the actuators or actuator units;
(54, 55) for converting the motion generated by the actuators or actuator units into a motion for rotating the load,
At least one charging circuit (HPi, HPia) of high pressure, which is a source of oil pressure, capable of producing and receiving a volumetric flow rate at a predetermined pressure level;
At least one charging circuit (LPi, LPia) of low pressure, which is a source of oil pressure, capable of producing and receiving a volumetric flow rate at a predetermined pressure level;
At least two operation chambers belonging to the operation chambers;
At least one of the high-pressure charging circuits HPi and HPia and at least one of the low-pressure charging circuits LPi and LPia may be sequentially coupled to a predetermined operation chamber,
Each of the predetermined operation chambers can generate elements of force (FA, FB, FC, FD) corresponding to a predetermined pressure level of the charging circuits (HPi, HPia, LPi, LPia) to be coupled to the operation chamber - each element of the force produces at least one of the total moments jointly with the elements of the force produced by the other actuating chambers of the actuator or actuator unit . 37. The rotary apparatus according to claim 36, wherein the rotating device comprises at least four of the actuators or actuator units and at least four of the predetermined operating chambers. 37. The method according to claim 36 or 37, wherein the ratios of the effective areas of the predetermined working chambers are determined according to the sequence N ^M , wherein N is the number of the charging circuits, M is the number of the predetermined working chambers , N and M are integers. 37. The apparatus of claim 36, wherein the rotating device is adapted to control the force of the rotating device, and is configured to control the control circuit (40), wherein at least one A controller (24); Characterized in that the controller is further configured to control the coupling made by the control circuit (40) at every moment so that the elements of the generated force produce a total moment that is in close or close relation to the reference value (31) Rotating device. 37. The rotary apparatus of claim 36, wherein at least one of the predetermined operating chambers is configured to generate and supply hydraulic pressure to one of the charging circuits during a pivoting movement of the load. At least one actuator (23) or actuator unit capable of producing a sum (Fcyl) of forces effective to the load; And
At least two working chambers which are operated by a displacement principle and which are located in the actuator or actuator unit,
At least one charging circuit (HPi, HPia) of high pressure, which is a source of oil pressure, capable of producing and receiving a volumetric flow rate at a predetermined pressure level;
At least one charging circuit (LPi, LPia) of low pressure, which is a source of oil pressure, capable of producing and receiving a volumetric flow rate at a predetermined pressure level;
At least two predetermined operating chambers (19, 20, 21, 22) belonging to said operating chambers;
Wherein at least one of the high-pressure charging circuits HPi and HPia and at least one of the low-pressure charging circuits LPi and LPia are coupled to each of the predetermined operation chambers 19, 20, 21 and 22 A control circuit (40);
A first controllable control interface (9) for each of the predetermined operating chambers, capable of opening or closing a connection to the high-pressure charging circuits (HPi, HPia); And
A second controllable control interface (10) for each of the predetermined operating chambers, which is independent of the first controllable control interface (9) and which is capable of opening or closing a connection to the low pressure charging circuits (HPi, HPia) In the pressurized medium system,
(FE) corresponding to predetermined pressure levels of the charging circuits (HPi, HPia, LPi, LPia) to be coupled to the predetermined operation chambers are provided in each of the predetermined operation chambers 19, 20, , FB, FC, FD); And
And producing, as an element of each force, at least one of said forces sums together with the elements of force generated by the other actuation chambers. 42. The system of claim 41,
A control means for controlling the sum of the forces generated by the actuator or actuator unit and for controlling the control circuit, the control means comprising a reference value for a sum of forces to be generated, an acceleration of the load, And at least one controller (24) having a position as input;
The method
Using the controller, the step of controlling the coupling created by the control circuit (40) at every moment is added so that the forces of the generated force produce a sum of forces that are in close or closely related relation to the reference value . ≪ / RTI > At least one actuator (23) or actuator unit capable of producing a sum (Fcyl) of forces effective to the load; And
At least two working chambers which are operated by a displacement principle and which are located in the actuator or actuator unit,
At least one charging circuit (HPi, HPia) of high pressure, which is a source of oil pressure, capable of producing and receiving a volumetric flow rate at a predetermined pressure level;
At least one charging circuit (LPi, LPia) of low pressure, which is a source of oil pressure, capable of producing and receiving a volumetric flow rate at a predetermined pressure level;
At least two predetermined operating chambers (19, 20, 21, 22) belonging to said operating chambers;
Wherein at least one of the high-pressure charging circuits HPi and HPia and at least one of the low-pressure charging circuits LPi and LPia are coupled to each of the predetermined operation chambers 19, 20, 21 and 22 Characterized in that it comprises a control circuit (40), wherein corresponding elements of force are generated in a respective respective actuating chamber, characterized in that in the controller for the control of the pressurized medium system,
The controller comprising:
Controlling the control circuit (40) based on a reference value (31) for the sum of the forces to be generated, an acceleration of the load, a speed of the load or an input of the load;
Controlling the coupling created by the control circuit 40 at every moment to cause the predetermined operating chambers to produce a sum of forces that are in conformity with or closely related to the reference value 31, And to generate a sum of said forces in combination. 44. The method of claim 43, wherein the states of the control circuit (40) are stored in the controller, each state representing a coupling of the control circuit generating a sum of one force, And the output of the controller is configured to set the state of the control circuit in a state corresponding to the reference value (31) in each load situation And control values (37, 39) given to the control circuit. 44. A method as claimed in claim 43 or claim 44, wherein the states of the predetermined operating chambers are stored in the controller, wherein each state includes couplings of actuating chambers of the actuators producing a sum of forces, Wherein the control values correspond to the control values adjusted in a corresponding order proportional to the progressive order.

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